Commit 530dd0ff authored by maruggv's avatar maruggv
Browse files

corrected previous commit (integrator)

parent 9ce1df44
......@@ -673,7 +673,7 @@ void calculateControlOutput_viaLQRforRates(float stateErrorBody[12], Controller:
{
for(int i=0; i < 3; i++)
{
integrator_var[i] -= stateErrorBody[i]*(1.0/control_frequency) + integrator_var[i]*(1.0/(1.0-control_frequency));
integrator_var[i] -= stateErrorBody[i]*(1.0/control_frequency) + integrator_var[i];
}
}
......
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