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Code Issues Releases Activity

OP-1474 Fix label compile error

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This commit is contained in:
Stefan Karlsson 2014-09-19 01:29:04 +02:00
parent 31c5f1c519
commit f0c47976a5
1 changed files with 8 additions and 5 deletions
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13
flight/modules/Stabilization/altitudeloop.c
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@ -163,11 +163,13 @@ static void altitudeHoldTask(void)
dT = PIOS_DELTATIME_GetAverageSeconds(&timeval); dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
switch (thrustMode) { switch (thrustMode) {
case ALTITUDEHOLD: case ALTITUDEHOLD:
{
// altitude control loop // altitude control loop
// No scaling. // No scaling.
pid_scaler scaler = { .p = 1.0f, .i = 1.0f, .d = 1.0f }; const pid_scaler scaler = { .p = 1.0f, .i = 1.0f, .d = 1.0f };
altitudeHoldStatus.VelocityDesired = pid_apply_setpoint(&pid0, &scaler, thrustSetpoint, positionStateDown, dT); altitudeHoldStatus.VelocityDesired = pid_apply_setpoint(&pid0, &scaler, thrustSetpoint, positionStateDown, dT);
break; }
break;
case ALTITUDEVARIO: case ALTITUDEVARIO:
altitudeHoldStatus.VelocityDesired = thrustSetpoint; altitudeHoldStatus.VelocityDesired = thrustSetpoint;
break; break;
@ -183,12 +185,13 @@ static void altitudeHoldTask(void)
thrustDemand = thrustSetpoint; thrustDemand = thrustSetpoint;
break; break;
default: default:
{
// velocity control loop // velocity control loop
// No scaling. // No scaling.
pid_scaler scaler = { .p = 1.0f, .i = 1.0f, .d = 1.0f }; const pid_scaler scaler = { .p = 1.0f, .i = 1.0f, .d = 1.0f };
thrustDemand = startThrust - pid_apply_setpoint(&pid1, &scaler, altitudeHoldStatus.VelocityDesired, velocityStateDown, dT); thrustDemand = startThrust - pid_apply_setpoint(&pid1, &scaler, altitudeHoldStatus.VelocityDesired, velocityStateDown, dT);
}
break; break;
} }
} }