Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ArduCopter: fixed compiler warning related to shadowing of control_roll and control_pitch in get_of_roll and get_of_pitch.

This commit is contained in:
rmackay9 2012-08-18 11:48:12 +09:00
parent 8c636ca263
commit 92688a793a
1 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
ArduCopter/Attitude.pde
View File

@ -657,7 +657,7 @@ static void init_z_damper()
// calculate modified roll/pitch depending upon optical flow calculated position
static int32_t
get_of_roll(int32_t control_roll)
get_of_roll(int32_t input_roll)
{
#ifdef OPTFLOW_ENABLED
static float tot_x_cm = 0; // total distance from target
@ -673,7 +673,7 @@ get_of_roll(int32_t control_roll)
tot_x_cm += optflow.x_cm;
// only stop roll if caller isn't modifying roll
if( control_roll == 0 && current_loc.alt < 1500) {
if( input_roll == 0 && current_loc.alt < 1500) {
p = g.pid_optflow_roll.get_p(-tot_x_cm);
i = g.pid_optflow_roll.get_i(-tot_x_cm,1.0); // we could use the last update time to calculate the time change
d = g.pid_optflow_roll.get_d(-tot_x_cm,1.0);
@ -704,14 +704,14 @@ get_of_roll(int32_t control_roll)
// limit max angle
of_roll = constrain(of_roll, -1000, 1000);
return control_roll+of_roll;
return input_roll+of_roll;
#else
return control_roll;
return input_roll;
#endif
}
static int32_t
get_of_pitch(int32_t control_pitch)
get_of_pitch(int32_t input_pitch)
{
#ifdef OPTFLOW_ENABLED
static float tot_y_cm = 0; // total distance from target
@ -727,7 +727,7 @@ get_of_pitch(int32_t control_pitch)
tot_y_cm += optflow.y_cm;
// only stop roll if caller isn't modifying pitch
if( control_pitch == 0 && current_loc.alt < 1500 ) {
if( input_pitch == 0 && current_loc.alt < 1500 ) {
p = g.pid_optflow_pitch.get_p(tot_y_cm);
i = g.pid_optflow_pitch.get_i(tot_y_cm, 1.0); // we could use the last update time to calculate the time change
d = g.pid_optflow_pitch.get_d(tot_y_cm, 1.0);
@ -759,8 +759,8 @@ get_of_pitch(int32_t control_pitch)
// limit max angle
of_pitch = constrain(of_pitch, -1000, 1000);
return control_pitch+of_pitch;
return input_pitch+of_pitch;
#else
return control_pitch;
return input_pitch;
#endif
}