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https://github.com/ArduPilot/ardupilot
synced 2025-01-14 04:38:30 -04:00
ModeFilter: fixed a shadowed variable
mode is a member of the class already, so call the local variable fmode git-svn-id: https://arducopter.googlecode.com/svn/trunk@3081 f9c3cf11-9bcb-44bc-f272-b75c42450872
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@ -57,14 +57,14 @@ void ModeFilter::isort()
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//Mode function, returning the mode or median.
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int ModeFilter::mode(){
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int mode = 0;
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int fmode = 0;
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byte i = 0;
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byte count = 0;
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byte maxCount = 0;
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byte bimodal = 0;
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while(count > maxCount){
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mode = _samples[i];
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fmode = _samples[i];
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maxCount = count;
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bimodal = 0;
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}
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@ -75,9 +75,9 @@ int ModeFilter::mode(){
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bimodal = 1;
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}
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if(mode == 0 || bimodal == 1){ //Return the median if there is no mode.
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mode = _samples[(MOD_FILTER_SIZE / 2)];
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if(fmode == 0 || bimodal == 1){ //Return the median if there is no mode.
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fmode = _samples[(MOD_FILTER_SIZE / 2)];
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}
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return mode;
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return fmode;
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}
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