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Docs update; Unify signedness

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Konstantin Sharlaimov (DigitalEntity) 2017-03-27 20:06:56 +10:00
parent 8155e250a7
commit 35afa9d93c
4 changed files with 26 additions and 9 deletions
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src/main/navigation/navigation_fixedwing.c
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@ -483,7 +483,7 @@ void applyFixedWingEmergencyLandingController(void)
// FIXME: Use altitude controller if available (similar to MC code)
rcCommand[ROLL] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_roll_angle, pidProfile()->max_angle_inclination[FD_ROLL]);
rcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]);
rcCommand[YAW] = pidRateToRcCommand(failsafeConfig()->failsafe_fw_yaw_rate, currentControlRateProfile->rates[FD_YAW]);
rcCommand[YAW] = -pidRateToRcCommand(failsafeConfig()->failsafe_fw_yaw_rate, currentControlRateProfile->rates[FD_YAW]);
rcCommand[THROTTLE] = failsafeConfig()->failsafe_throttle;
}