From 685be4083cf524286e77a797709c9c2cacb50e0a Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 17 Feb 2016 20:17:44 +0900 Subject: [PATCH] AC_AttControl_Heli: remove unnecessary cast to AC_HELI_PID --- libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp index b9bd2fb9ea..e24e6d3877 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp @@ -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(); }