diff options
Diffstat (limited to 'src/modules/systemlib/mixer/mixer_multirotor.cpp')
| -rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 4 |
1 files changed, 1 insertions, 3 deletions
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 092c0e2b0..4b22a46d0 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -208,7 +208,6 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl char geomname[8]; int s[4]; int used; - const char *end = buf + buflen; /* enforce that the mixer ends with space or a new line */ for (int i = buflen - 1; i >= 0; i--) { @@ -302,7 +301,6 @@ MultirotorMixer::mix(float *outputs, unsigned space) //lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3))); float min_out = 0.0f; float max_out = 0.0f; - float scale_yaw = 1.0f; /* perform initial mix pass yielding unbounded outputs, ignore yaw */ for (unsigned i = 0; i < _rotor_count; i++) { @@ -327,7 +325,7 @@ MultirotorMixer::mix(float *outputs, unsigned space) } /* scale down roll/pitch controls if some outputs are negative, don't add yaw, keep total thrust */ - if (min_out < 0.0) { + if (min_out < 0.0f) { float scale_in = thrust / (thrust - min_out); /* mix again with adjusted controls */ |