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Copter: minor rename of ACRO circular limits variable

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Randy Mackay 2014-11-10 17:22:22 -08:00
parent 83051c306d
commit ed099a73a3
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/control_acro.pde
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@ -48,10 +48,10 @@ static void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int
Vector3f rate_ef_level, rate_bf_level, rate_bf_request;
// apply circular limit to pitch and roll inputs
float total_out = pythagorous2((float)pitch_in, (float)roll_in);
float total_in = pythagorous2((float)pitch_in, (float)roll_in);
if (total_out > ROLL_PITCH_INPUT_MAX) {
float ratio = (float)ROLL_PITCH_INPUT_MAX / total_out;
if (total_in > ROLL_PITCH_INPUT_MAX) {
float ratio = (float)ROLL_PITCH_INPUT_MAX / total_in;
roll_in *= ratio;
pitch_in *= ratio;
}