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Copter: acro_level_mix becomes local variable

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Coverity uncovered this as an uninitialised member defect
This commit is contained in:
Randy Mackay 2015-06-08 12:36:07 +09:00
parent d366c30358
commit a0d97f1160
2 changed files with 1 additions and 4 deletions
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3
ArduCopter/Copter.h
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@ -343,9 +343,6 @@ private:
float throttle_average; // estimated throttle required to hover
int16_t desired_climb_rate; // pilot desired climb rate - for logging purposes only
// ACRO Mode
float acro_level_mix; // scales back roll, pitch and yaw inversely proportional to input from pilot
// Loiter control
uint16_t loiter_time_max; // How long we should stay in Loiter Mode for mission scripting (time in seconds)
uint32_t loiter_time; // How long have we been loitering - The start time in millis

2
ArduCopter/control_acro.cpp
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@ -123,7 +123,7 @@ void Copter::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, in
rate_bf_request.y += rate_bf_level.y;
rate_bf_request.z += rate_bf_level.z;
}else{
acro_level_mix = constrain_float(1-max(max(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0, 0, 1)*ahrs.cos_pitch();
float acro_level_mix = constrain_float(1-max(max(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0, 0, 1)*ahrs.cos_pitch();
// Scale leveling rates by stick input
rate_bf_level = rate_bf_level*acro_level_mix;