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Code Issues Releases Activity

Fixed typo.

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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
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8
flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c
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@ -379,7 +379,7 @@ static uint8_t updateFixedDesiredAttitude()
float powerCommand; float powerCommand;
float bearingError; float bearingError;
float bearingCommandmand; float bearingCommand;
FixedWingPathFollowerSettingsGet(&fixedwingpathfollowerSettings); FixedWingPathFollowerSettingsGet(&fixedwingpathfollowerSettings);
@ -648,15 +648,15 @@ static uint8_t updateFixedDesiredAttitude()
bearingIntegral = bound(bearingIntegral + bearingError * dT * fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_KI], bearingIntegral = bound(bearingIntegral + bearingError * dT * fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_KI],
-fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_ILIMIT], -fixedwingpathfollowerSettings.BearingPI[FIXEDWINGPATHFOLLOWERSETTINGS_BEARINGPI_ILIMIT],
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); bearingIntegral);
fixedwingpathfollowerStatus.Error[FIXEDWINGPATHFOLLOWERSTATUS_ERROR_BEARING] = bearingError; fixedwingpathfollowerStatus.Error[FIXEDWINGPATHFOLLOWERSTATUS_ERROR_BEARING] = bearingError;
fixedwingpathfollowerStatus.ErrorInt[FIXEDWINGPATHFOLLOWERSTATUS_ERRORINT_BEARING] = bearingIntegral; 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] + stabDesired.Roll = bound( fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_NEUTRAL] +
bearingCommandmand, bearingCommand,
fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_MIN], fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_MIN],
fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_MAX] ); fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_MAX] );