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supervision: SUPERVISION_CMD_SCALE in fixed point

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This commit is contained in:
Felix Ruess
2012-03-27 19:59:10 +02:00
parent ed12ac5ce3
commit a7e7d94e7a
1 changed files with 1 additions and 1 deletions
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sw/airborne/firmwares/rotorcraft/actuators/supervision.c
+1 -1
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@@ -64,7 +64,7 @@
* [SUPERVISION_MIN_MOTOR,SUPERVISION_MAX_MOTOR]
* or sets it to SUPERVISION_STOP_MOTOR
*/
#define SUPERVISION_CMD_SCALE (((float)(SUPERVISION_MAX_MOTOR - SUPERVISION_MIN_MOTOR) / MAX_PPRZ) /SUPERVISION_SCALE)
#define SUPERVISION_CMD_SCALE (SUPERVISION_MAX_MOTOR - SUPERVISION_MIN_MOTOR) / (MAX_PPRZ * SUPERVISION_SCALE)
static const int32_t roll_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_ROLL_COEF;
static const int32_t pitch_coef[SUPERVISION_NB_MOTOR] = SUPERVISION_PITCH_COEF;