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fix ref when not using it

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This commit is contained in:
Gautier Hattenberger
2011-09-05 11:05:56 +02:00
parent 4d51257288
commit 23a1297ea1
1 changed files with 3 additions and 1 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_euler_int.c
+3 -1
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@@ -69,7 +69,9 @@ void stabilization_attitude_ref_init(void) {
#define OMEGA_2_R_RES 7
#define OMEGA_2_R BFP_OF_REAL((OMEGA_R*OMEGA_R), OMEGA_2_R_RES)
#ifndef NO_ANGLE_REF
#define USE_REF 1
#endif
void stabilization_attitude_ref_update() {
@@ -121,7 +123,7 @@ void stabilization_attitude_ref_update() {
SATURATE_SPEED_TRIM_ACCEL();
#else /* !USE_REF */
EULERS_COPY(stab_att_ref_euler, stabilization_att_sp);
EULERS_COPY(stab_att_ref_euler, stab_att_sp_euler);
INT_RATES_ZERO(stab_att_ref_rate);
INT_RATES_ZERO(stab_att_ref_accel);
#endif /* USE_REF */