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Fixed use of uninitialised currentPidSetpoint

This commit is contained in:
Martin Budden 2016-12-30 23:30:23 +00:00
parent 73fc0df0ed
commit 5d63f83f6c
1 changed files with 2 additions and 3 deletions
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5
src/main/flight/pid.c
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@ -170,7 +170,7 @@ float calcHorizonLevelStrength(const pidProfile_t *pidProfile) {
return horizonLevelStrength;
}
float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim) {
float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
// calculate error angle and limit the angle to the max inclination
float errorAngle = pidProfile->levelSensitivity * rcCommand[axis];
#ifdef GPS
@ -178,7 +178,6 @@ float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims
#endif
errorAngle = constrainf(errorAngle, -pidProfile->max_angle_inclination, pidProfile->max_angle_inclination);
errorAngle = (errorAngle - ((attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f));
float currentPidSetpoint;
if(FLIGHT_MODE(ANGLE_MODE)) {
// ANGLE mode - control is angle based, so control loop is needed
currentPidSetpoint = errorAngle * levelGain;
@ -220,7 +219,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
// Yaw control is GYRO based, direct sticks control is applied to rate PID
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
currentPidSetpoint = pidLevel(axis, pidProfile, angleTrim);
currentPidSetpoint = pidLevel(axis, pidProfile, angleTrim, currentPidSetpoint);
}
const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec