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MatrixMotors: motor_out array made local

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Randy Mackay 2014-02-09 17:51:21 +09:00 committed by Andrew Tridgell
parent 2f3fc3a3ce
commit 32a0992985
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -100,8 +100,7 @@ void AP_MotorsMatrix::output_min()
// fill the motor_out[] array for HIL use and send minimum value to each motor
for( i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
if( motor_enabled[i] ) {
motor_out[i] = _rc_throttle->radio_min;
hal.rcout->write(_motor_to_channel_map[i], motor_out[i]);
hal.rcout->write(_motor_to_channel_map[i], _rc_throttle->radio_min);
}
}
}
@ -118,6 +117,7 @@ void AP_MotorsMatrix::output_armed()
float rpy_scale = 1.0; // this is used to scale the roll, pitch and yaw to fit within the motor limits
int16_t rpy_out[AP_MOTORS_MAX_NUM_MOTORS]; // buffer so we don't have to multiply coefficients multiple times.
int16_t motor_out[AP_MOTORS_MAX_NUM_MOTORS]; // final outputs sent to the motors
int16_t rpy_low = 0; // lowest motor value
int16_t rpy_high = 0; // highest motor value