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Code Issues Releases Activity

Stabilization fix typo

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This commit is contained in:
James Cotton 2011-09-12 11:56:01 -05:00
parent 84f38eab78
commit c36297227d
1 changed files with 4 additions and 4 deletions
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8
flight/Modules/Stabilization/stabilization.c
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@ -237,7 +237,7 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = attitudeDesiredAxis[i];
// Zero attitude and axis lock accumulators
pids[PID_ROLL + i] = 0;
pids[PID_ROLL + i].iAccumulator = 0;
axis_lock_accum[i] = 0;
break;
@ -253,7 +253,7 @@ static void stabilizationTask(void* parameters)
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
// Zero attitude and axis lock accumulators
pids[PID_ROLL + i] = 0;
pids[PID_ROLL + i].iAccumulator = 0;
axis_lock_accum[i] = 0;
break;
}
@ -262,7 +262,7 @@ static void stabilizationTask(void* parameters)
if(rateDesiredAxis[i] > settings.MaximumRate[i])
rateDesiredAxis[i] = settings.MaximumRate[i];
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
rateDesiredAxis[i] = -settings.MaximumRate[i];
@ -287,7 +287,7 @@ static void stabilizationTask(void* parameters)
if(rateDesiredAxis[i] > settings.MaximumRate[i])
rateDesiredAxis[i] = settings.MaximumRate[i];
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
else if(rateDesiredAxis[i] < -settings.MaximumRate[i])
rateDesiredAxis[i] = -settings.MaximumRate[i];
break;