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diff_gaz: float -> int

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Pascal Brisset
2006-07-18 07:09:49 +00:00
parent bd8c49d2a8
commit 2f4e016bb1
1 changed files with 2 additions and 2 deletions
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sw/airborne/pid.c
+2 -2
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@@ -132,8 +132,8 @@ void roll_pitch_pid_run( void ) {
#endif
void pid_slew_gaz( void ) {
static float last_gaz;
float diff_gaz = desired_gaz - last_gaz;
static pprz_t last_gaz;
pprz_t diff_gaz = desired_gaz - last_gaz;
Bound(diff_gaz, -TRIM_PPRZ(CLIMB_MAX_DIFF_GAZ*MAX_PPRZ), TRIM_PPRZ(CLIMB_MAX_DIFF_GAZ*MAX_PPRZ));
desired_gaz = last_gaz + diff_gaz;
last_gaz = desired_gaz;