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AC_AttControl_Heli: remove unnecessary cast to AC_HELI_PID

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This commit is contained in:
Randy Mackay 2016-02-17 20:17:44 +09:00
parent 6c91e50f8c
commit 685be4083c
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -279,7 +279,7 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target
// update i term as long as we haven't breached the limits or the I term will certainly reduce
if (!_flags_heli.limit_roll || ((roll_i>0&&rate_roll_error_rads<0)||(roll_i<0&&rate_roll_error_rads>0))){
if (_flags_heli.leaky_i){
roll_i = ((AC_HELI_PID&)_pid_rate_roll).get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
roll_i = _pid_rate_roll.get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
}else{
roll_i = _pid_rate_roll.get_i();
}
@ -291,7 +291,7 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target
// update i term as long as we haven't breached the limits or the I term will certainly reduce
if (!_flags_heli.limit_pitch || ((pitch_i>0&&rate_pitch_error_rads<0)||(pitch_i<0&&rate_pitch_error_rads>0))){
if (_flags_heli.leaky_i) {
pitch_i = ((AC_HELI_PID&)_pid_rate_pitch).get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
pitch_i = _pid_rate_pitch.get_leaky_i(AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE);
}else{
pitch_i = _pid_rate_pitch.get_i();
}