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Fix potential overflow.

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Michael Jakob 2015-01-27 14:42:49 +01:00
parent 124ae1f590
commit 56176abe66
1 changed files with 1 additions and 1 deletions
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src/main/flight/flight.c
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@ -585,7 +585,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
#endif
}
tmp0flt = (uint16_t)FLOATcycleTime & (uint16_t)0xFFFC; // Filter last 2 bit jitter
tmp0flt = (int32_t)FLOATcycleTime & (int32_t)~3; // Filter last 2 bit jitter
tmp0flt /= 3000.0f;
if (OLD_YAW) { // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw. hardcoded for now
PTerm = ((int32_t)pidProfile->P8[FD_YAW] * (100 - (int32_t)controlRateConfig->yawRate * (int32_t)ABS(rcCommand[FD_YAW]) / 500)) / 100;