From d7ba80840081e3c1d1e76262fba7eecc69ae59f8 Mon Sep 17 00:00:00 2001 From: Robert Lefebvre Date: Tue, 6 Jan 2015 00:44:52 -0500 Subject: [PATCH] ArduCopter: Bug fix, int8t should be uint16t. --- ArduCopter/control_poshold.pde | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/control_poshold.pde b/ArduCopter/control_poshold.pde index 7a795e859a..457dc0453e 100644 --- a/ArduCopter/control_poshold.pde +++ b/ArduCopter/control_poshold.pde @@ -77,7 +77,7 @@ static struct { // loiter related variables int16_t controller_to_pilot_timer_roll; // cycles to mix controller and pilot controls in POSHOLD_CONTROLLER_TO_PILOT - int16_t controller_to_pilot_timer_pitch; // cycles to mix controller and pilot controls in POSHOLD_CONTROLLER_TO_PILOT + int16_t controller_to_pilot_timer_pitch; // cycles to mix controller and pilot controls in POSHOLD_CONTROLLER_TO_PILOT int16_t controller_final_roll; // final roll angle from controller as we exit brake or loiter mode (used for mixing with pilot input) int16_t controller_final_pitch; // final pitch angle from controller as we exit brake or loiter mode (used for mixing with pilot input) @@ -85,8 +85,8 @@ static struct { Vector2f wind_comp_ef; // wind compensation in earth frame, filtered lean angles from position controller int16_t wind_comp_roll; // roll angle to compensate for wind int16_t wind_comp_pitch; // pitch angle to compensate for wind - int8_t wind_comp_start_timer; // counter to delay start of wind compensation for a short time after loiter is engaged - int8_t wind_comp_timer; // counter to reduce wind comp roll/pitch lean angle calcs to 10hz + uint16_t wind_comp_start_timer; // counter to delay start of wind compensation for a short time after loiter is engaged + int8_t wind_comp_timer; // counter to reduce wind comp roll/pitch lean angle calcs to 10hz // final output int16_t roll; // final roll angle sent to attitude controller