From 152a3a2828f47a026a9db05d3ab5e7859188548a Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Tue, 6 Jan 2015 00:44:52 -0500
Subject: [PATCH] ArduCopter: Bug fix, int8t should be uint16t.
---
ArduCopter/control_poshold.pde | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/ArduCopter/control_poshold.pde b/ArduCopter/control_poshold.pde
index 562f5e727..ab201a84e 100644
--- a/ArduCopter/control_poshold.pde
+++ b/ArduCopter/control_poshold.pde
@@ -77,7 +77,7 @@ static struct {
// loiter related variables
int16_t controller_to_pilot_timer_roll; // cycles to mix controller and pilot controls in POSHOLD_CONTROLLER_TO_PILOT
- int16_t controller_to_pilot_timer_pitch; // cycles to mix controller and pilot controls in POSHOLD_CONTROLLER_TO_PILOT
+ int16_t controller_to_pilot_timer_pitch; // cycles to mix controller and pilot controls in POSHOLD_CONTROLLER_TO_PILOT
int16_t controller_final_roll; // final roll angle from controller as we exit brake or loiter mode (used for mixing with pilot input)
int16_t controller_final_pitch; // final pitch angle from controller as we exit brake or loiter mode (used for mixing with pilot input)
@@ -85,8 +85,8 @@ static struct {
Vector2f wind_comp_ef; // wind compensation in earth frame, filtered lean angles from position controller
int16_t wind_comp_roll; // roll angle to compensate for wind
int16_t wind_comp_pitch; // pitch angle to compensate for wind
- int8_t wind_comp_start_timer; // counter to delay start of wind compensation for a short time after loiter is engaged
- int8_t wind_comp_timer; // counter to reduce wind comp roll/pitch lean angle calcs to 10hz
+ uint16_t wind_comp_start_timer; // counter to delay start of wind compensation for a short time after loiter is engaged
+ int8_t wind_comp_timer; // counter to reduce wind comp roll/pitch lean angle calcs to 10hz
// final output
int16_t roll; // final roll angle sent to attitude controller
--
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