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Integer SETPOINT_RATE_LIMIT for STATIC_ASSERT().

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This commit is contained in:
ianrmurphy 2018-09-03 21:30:01 +01:00
parent e4cdb077b2
commit 2c1988f1f3
1 changed files with 3 additions and 3 deletions
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6
src/main/fc/rc.c
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@ -111,7 +111,7 @@ static int16_t rcLookupThrottle(int32_t tmp)
return lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100; return lookupThrottleRC[tmp2] + (tmp - tmp2 * 100) * (lookupThrottleRC[tmp2 + 1] - lookupThrottleRC[tmp2]) / 100;
} }
#define SETPOINT_RATE_LIMIT 1998.0f #define SETPOINT_RATE_LIMIT 1998
STATIC_ASSERT(CONTROL_RATE_CONFIG_RATE_LIMIT_MAX <= SETPOINT_RATE_LIMIT, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX_too_large); STATIC_ASSERT(CONTROL_RATE_CONFIG_RATE_LIMIT_MAX <= SETPOINT_RATE_LIMIT, CONTROL_RATE_CONFIG_RATE_LIMIT_MAX_too_large);
#define RC_RATE_INCREMENTAL 14.54f #define RC_RATE_INCREMENTAL 14.54f
@ -192,8 +192,8 @@ static void scaleRcCommandToFpvCamAngle(void)
float roll = setpointRate[ROLL]; float roll = setpointRate[ROLL];
float yaw = setpointRate[YAW]; float yaw = setpointRate[YAW];
setpointRate[ROLL] = constrainf(roll * cosFactor - yaw * sinFactor, -SETPOINT_RATE_LIMIT, SETPOINT_RATE_LIMIT); setpointRate[ROLL] = constrainf(roll * cosFactor - yaw * sinFactor, -SETPOINT_RATE_LIMIT * 1.0f, SETPOINT_RATE_LIMIT * 1.0f);
setpointRate[YAW] = constrainf(yaw * cosFactor + roll * sinFactor, -SETPOINT_RATE_LIMIT, SETPOINT_RATE_LIMIT); setpointRate[YAW] = constrainf(yaw * cosFactor + roll * sinFactor, -SETPOINT_RATE_LIMIT * 1.0f, SETPOINT_RATE_LIMIT * 1.0f);
} }
#define THROTTLE_BUFFER_MAX 20 #define THROTTLE_BUFFER_MAX 20