Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: corrects C11 errors in AutoTune for OS X with clang.

Browse Source
This commit is contained in:
Tim Ryan 2015-06-04 15:57:21 +09:00 committed by Randy Mackay
parent 1d39f548dc
commit 62816b28f6
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduCopter/control_autotune.cpp
View File

@ -628,10 +628,10 @@ void Copter::autotune_attitude_control()
// move to the next tuning type
switch (autotune_state.tune_type) {
case AUTOTUNE_TYPE_RD_UP:
autotune_state.tune_type++;
autotune_state.tune_type = AutoTuneTuneType(autotune_state.tune_type + 1);
break;
case AUTOTUNE_TYPE_RD_DOWN:
autotune_state.tune_type++;
autotune_state.tune_type = AutoTuneTuneType(autotune_state.tune_type + 1);
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
tune_roll_rd = max(AUTOTUNE_RD_MIN, tune_roll_rd * AUTOTUNE_RD_BACKOFF);
@ -648,7 +648,7 @@ void Copter::autotune_attitude_control()
}
break;
case AUTOTUNE_TYPE_RP_UP:
autotune_state.tune_type++;
autotune_state.tune_type = AutoTuneTuneType(autotune_state.tune_type + 1);
switch (autotune_state.axis) {
case AUTOTUNE_AXIS_ROLL:
tune_roll_rp = max(AUTOTUNE_RP_MIN, tune_roll_rp * AUTOTUNE_RP_BACKOFF);
@ -662,7 +662,7 @@ void Copter::autotune_attitude_control()
}
break;
case AUTOTUNE_TYPE_SP_DOWN:
autotune_state.tune_type++;
autotune_state.tune_type = AutoTuneTuneType(autotune_state.tune_type + 1);
break;
case AUTOTUNE_TYPE_SP_UP:
// we've reached the end of a D-up-down PI-up-down tune type cycle