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Code Issues Releases Activity

LP-76 fix drops out of sky in AutoTune mode

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This commit is contained in:
Cliff Geerdes 2016-03-15 13:12:14 -04:00
parent aa06b1793f
commit d8e07b090e
1 changed files with 1 additions and 1 deletions
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2
flight/modules/Stabilization/innerloop.c
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@ -343,7 +343,7 @@ static void stabilizationInnerloopTask()
case STABILIZATIONSTATUS_INNERLOOP_SYSTEMIDENT: case STABILIZATIONSTATUS_INNERLOOP_SYSTEMIDENT:
{ {
static int8_t identIteration = 0; static int8_t identIteration = 0;
float identOffsets[3]; static float identOffsets[3] = { 0 };
if (PIOS_DELAY_DiffuS(systemIdentTimeVal) / 1000.0f > SYSTEM_IDENT_PERIOD) { if (PIOS_DELAY_DiffuS(systemIdentTimeVal) / 1000.0f > SYSTEM_IDENT_PERIOD) {
const float SCALE_BIAS = 7.1f; const float SCALE_BIAS = 7.1f;