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ArduCopter: Bug fix, int8t should be uint16t.

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Robert Lefebvre 2015-01-06 00:44:52 -05:00 committed by Randy Mackay
parent 6b236eb7ea
commit 152a3a2828
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/control_poshold.pde
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@ -77,7 +77,7 @@ static struct {
// loiter related variables // 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_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_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) 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 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_roll; // roll angle to compensate for wind
int16_t wind_comp_pitch; // pitch 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 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 int8_t wind_comp_timer; // counter to reduce wind comp roll/pitch lean angle calcs to 10hz
// final output // final output
int16_t roll; // final roll angle sent to attitude controller int16_t roll; // final roll angle sent to attitude controller