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ArduCopter - made rate controller filters globals to fix compiler error on Arduino 022 (Arduino 1.0 was fine)

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This commit is contained in:
rmackay9 2012-02-28 22:56:26 +09:00
parent 082cc70f1c
commit 8da8ce5b58
2 changed files with 5 additions and 4 deletions
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3
ArduCopter/ArduCopter.pde
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@ -500,6 +500,9 @@ static int32_t initial_simple_bearing;
// Used to control Axis lock
int32_t roll_axis;
int32_t pitch_axis;
// Filters
AverageFilterInt32_Size3 roll_rate_d_filter; // filtered acceleration
AverageFilterInt32_Size3 pitch_rate_d_filter; // filtered pitch acceleration
////////////////////////////////////////////////////////////////////////////////
// Circle Mode / Loiter control

6
ArduCopter/Attitude.pde
View File

@ -112,7 +112,6 @@ get_acro_yaw(int32_t target_rate)
static int16_t
get_rate_roll(int32_t target_rate)
{
static AverageFilterInt32_Size3 rate_d_filter; // filtered acceleration
static int32_t last_rate = 0; // previous iterations rate
int32_t current_rate; // this iteration's rate
int32_t rate_d; // roll's acceleration
@ -123,7 +122,7 @@ get_rate_roll(int32_t target_rate)
current_rate = (omega.x * DEGX100);
// calculate and filter the acceleration
rate_d = rate_d_filter.apply(current_rate - last_rate);
rate_d = roll_rate_d_filter.apply(current_rate - last_rate);
// store rate for next iteration
last_rate = current_rate;
@ -143,7 +142,6 @@ get_rate_roll(int32_t target_rate)
static int16_t
get_rate_pitch(int32_t target_rate)
{
static AverageFilterInt32_Size3 rate_d_filter; // filtered acceleration
static int32_t last_rate = 0; // previous iterations rate
int32_t current_rate; // this iteration's rate
int32_t rate_d; // roll's acceleration
@ -154,7 +152,7 @@ get_rate_pitch(int32_t target_rate)
current_rate = (omega.y * DEGX100);
// calculate and filter the acceleration
rate_d = rate_d_filter.apply(current_rate - last_rate);
rate_d = pitch_rate_d_filter.apply(current_rate - last_rate);
// store rate for next iteration
last_rate = current_rate;