From eade9c9b347c5c0c2a2060828dd8d2a014824091 Mon Sep 17 00:00:00 2001 From: Vegard Storheil Eriksen Date: Sat, 21 May 2011 13:18:06 +0200 Subject: Fixed typo. --- main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/main.cpp b/main.cpp index 4d3240c..4fe3a60 100644 --- a/main.cpp +++ b/main.cpp @@ -169,8 +169,8 @@ class I2CThread : public BaseThread { roll_angle_accum += roll_angle_error; // 20 deg s max error. - saturate(pitch_angle_error, 364088); - saturate(roll_angle_error, 364088); + saturate(pitch_angle_accum, 364088); + saturate(roll_angle_accum, 364088); int32_t pitch_rate_target = (pitch_angle_error * 4 * 65536 + pitch_angle_accum * 98) >> 16; int32_t roll_rate_target = (roll_angle_error * 4 * 65536 + roll_angle_accum * 98) >> 16; -- cgit v1.2.3