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Tracker: use floats for get/set output scaled

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Iampete1 2021-09-18 18:54:05 +01:00 committed by Andrew Tridgell
parent 73b0a212f7
commit 8b34f2f48c
1 changed files with 1 additions and 1 deletions
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2
AntennaTracker/servos.cpp
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@ -74,7 +74,7 @@ void Tracker::update_pitch_position_servo()
// PITCH2SRV_IMAX 4000.000000 // PITCH2SRV_IMAX 4000.000000
// calculate new servo position // calculate new servo position
int32_t new_servo_out = SRV_Channels::get_output_scaled(SRV_Channel::k_tracker_pitch) + g.pidPitch2Srv.update_error(nav_status.angle_error_pitch); float new_servo_out = SRV_Channels::get_output_scaled(SRV_Channel::k_tracker_pitch) + g.pidPitch2Srv.update_error(nav_status.angle_error_pitch);
// position limit pitch servo // position limit pitch servo
if (new_servo_out <= pitch_min_cd) { if (new_servo_out <= pitch_min_cd) {