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get rid of an unused var warning for last_err in stabilization adaptive

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This commit is contained in:
Felix Ruess
2011-11-29 23:49:27 +01:00
parent 4f8c743ecc
commit bbe7d705b8
1 changed files with 5 additions and 2 deletions
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sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+5 -2
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@@ -361,7 +361,10 @@ inline static void loiter(void) {
inline static void h_ctl_pitch_loop( void ) {
#if !USE_GYRO_PITCH_RATE
static float last_err;
#endif
/* sanity check */
if (h_ctl_pitch_of_roll <0.)
h_ctl_pitch_of_roll = 0.;
@@ -394,12 +397,12 @@ inline static void h_ctl_pitch_loop( void ) {
// Compute errors
float err = estimator_theta - h_ctl_ref_pitch_angle;
#ifdef USE_GYRO_PITCH_RATE
#if USE_GYRO_PITCH_RATE
float d_err = estimator_q - h_ctl_ref_pitch_rate;
#else // soft derivation
float d_err = (err - last_err)/H_CTL_REF_DT - h_ctl_ref_pitch_rate;
#endif
last_err = err;
#endif
if (pprz_mode == PPRZ_MODE_MANUAL || launch == 0) {
h_ctl_pitch_sum_err = 0.;