From 69bcede01b7b2e97b3a0f1d2132141d69426a0c6 Mon Sep 17 00:00:00 2001 From: Christophe De Wagter Date: Mon, 1 Aug 2011 13:14:25 +0200 Subject: [PATCH] Typo in AHRS Limiter --- sw/airborne/subsystems/ahrs/ahrs_float_dcm.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c index 5bc9ea9aa9f..33f207b9d30 100644 --- a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c +++ b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c @@ -462,8 +462,8 @@ void Drift_correction(void) // Here we will place a limit on the integrator so that the integrator cannot ever exceed half the saturation limit of the gyros Integrator_magnitude = sqrt(Vector_Dot_Product(Omega_I,Omega_I)); - if (Integrator_magnitude > DegOfRad(300)) { - Vector_Scale(Omega_I,Omega_I,0.5f*DegOfRad(300)/Integrator_magnitude); + if (Integrator_magnitude > RadOfDeg(300)) { + Vector_Scale(Omega_I,Omega_I,0.5f*RadOfDeg(300)/Integrator_magnitude); }