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Code Issues Releases Activity

OP-1309 put altitude calls into #ifdef so it compiles on coptercontrol

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This commit is contained in:
Corvus Corax 2014-05-01 12:54:56 +02:00
parent 6993570cc9
commit 09a5578f5a
1 changed files with 2 additions and 0 deletions
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2
flight/modules/Stabilization/outerloop.c
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@ -229,12 +229,14 @@ static void stabilizationOuterloopTask()
} }
} else { } else {
switch (cast_struct_to_array(enabled, enabled.Roll)[t]) { switch (cast_struct_to_array(enabled, enabled.Roll)[t]) {
#ifdef REVOLUTION
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE: case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE:
rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEHOLD, reinit); rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEHOLD, reinit);
break; break;
case STABILIZATIONSTATUS_OUTERLOOP_VERTICALVELOCITY: case STABILIZATIONSTATUS_OUTERLOOP_VERTICALVELOCITY:
rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEVARIO, reinit); rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEVARIO, reinit);
break; break;
#endif /* REVOLUTION */
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT: case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
default: default:
rateDesiredAxis[t] = stabilizationDesiredAxis[t]; rateDesiredAxis[t] = stabilizationDesiredAxis[t];