rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-30 08:24:11 +01:00
Code Issues Releases Activity

Fixed typo.

Browse Source
This commit is contained in:
Kenz Dale 2012-07-19 17:13:39 +02:00
parent 5a5694883d
commit bce7a04de8
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c
View File

@ -379,7 +379,7 @@ static uint8_t updateFixedDesiredAttitude()
float powerCommand;
float bearingError;
float bearingCommandmand;
float bearingCommand;
FixedWingPathFollowerSettingsGet(&fixedwingpathfollowerSettings);
@ -648,15 +648,15 @@ static uint8_t updateFixedDesiredAttitude()
bearingIntegral = bound(bearingIntegral + bearingError * dT * fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_KI],
-fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_ILIMIT],
fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_ILIMIT]);
bearingCommandmand = (bearingError * fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_KP] +
bearingCommand = (bearingError * fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_KP] +
bearingIntegral);
fixedwingpathfollowerStatus.Error[FIXEDWINGPATHFOLLOWERSTATUS_ERROR_BEARING] = bearingError;
fixedwingpathfollowerStatus.ErrorInt[FIXEDWINGPATHFOLLOWERSTATUS_ERRORINT_BEARING] = bearingIntegral;
fixedwingpathfollowerStatus.Command[FIXEDWINGPATHFOLLOWERSTATUS_COMMAND_BEARING] = bearingCommandmand;
fixedwingpathfollowerStatus.Command[FIXEDWINGPATHFOLLOWERSTATUS_COMMAND_BEARING] = bearingCommand;
stabDesired.Roll = bound( fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_NEUTRAL] +
bearingCommandmand,
bearingCommand,
fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_MIN],
fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_MAX] );