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ACM: fixed the build on the 1280

This commit is contained in:
Andrew Tridgell 2012-03-27 15:33:21 +11:00
parent 16f094a1c5
commit 5d7c571fb1
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/Attitude.pde
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@ -89,6 +89,7 @@ get_stabilize_yaw(int32_t target_angle)
output = get_rate_yaw(target_rate) + i_term;
#endif
#if LOGGING_ENABLED == ENABLED
// log output if PID logging is on and we are tuning the yaw
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) {
log_counter++;
@ -97,6 +98,7 @@ get_stabilize_yaw(int32_t target_angle)
Log_Write_PID(CH6_YAW_KP, angle_error, target_rate, i_term, 0, output, g.pi_stabilize_yaw.kP());
}
}
#endif
// ensure output does not go beyond barries of what an int16_t can hold
return constrain(output,-32000,32000);
@ -210,6 +212,7 @@ get_rate_yaw(int32_t target_rate)
// constrain output
output = constrain(output, -yaw_limit, yaw_limit);
#if LOGGING_ENABLED == ENABLED
// log output if PID loggins is on and we are tuning the yaw
if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) {
log_counter++;
@ -218,6 +221,7 @@ get_rate_yaw(int32_t target_rate)
Log_Write_PID(CH6_YAW_RATE_KP, rate_error, p, i, d, output, g.pid_rate_yaw.kP());
}
}
#endif
// constrain output
return output;