Fix PID bank uint16 transition

iNavFlight · Dec 4, 2020 · 97eea57 · 97eea57
1 parent d32fe6d
commit 97eea57
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/src/main/fc/rc_adjustments.c b/src/main/fc/rc_adjustments.c
@@ -360,9 +360,9 @@ static void applyAdjustmentManualRate(adjustmentFunction_e adjustmentFunction, u
     return applyAdjustmentU8(adjustmentFunction, val, delta, RC_ADJUSTMENT_MANUAL_RATE_MIN, RC_ADJUSTMENT_MANUAL_RATE_MAX);
 }
 
-static void applyAdjustmentPID(adjustmentFunction_e adjustmentFunction, uint8_t *val, int delta)
+static void applyAdjustmentPID(adjustmentFunction_e adjustmentFunction, uint16_t *val, int delta)
 {
-    applyAdjustmentU8(adjustmentFunction, val, delta, RC_ADJUSTMENT_PID_MIN, RC_ADJUSTMENT_PID_MAX);
+    applyAdjustmentU16(adjustmentFunction, val, delta, RC_ADJUSTMENT_PID_MIN, RC_ADJUSTMENT_PID_MAX);
 }
 
 static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta)

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -1116,7 +1116,7 @@ pidBank_t * pidBankMutable(void) {
     return usedPidControllerType == PID_TYPE_PIFF ? &pidProfileMutable()->bank_fw : &pidProfileMutable()->bank_mc;
 }
 
-uint8_t * getD_FFRefByBank(pidBank_t *pidBank, pidIndex_e pidIndex)
+uint16_t * getD_FFRefByBank(pidBank_t *pidBank, pidIndex_e pidIndex)
 {
     if (pidIndexGetType(pidIndex) == PID_TYPE_PIFF) {
        return &pidBank->pid[pidIndex].FF;

diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
@@ -199,4 +199,4 @@ void autotuneUpdateState(void);
 void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRateDps, float reachedRateDps, float pidOutput);
 
 pidType_e pidIndexGetType(pidIndex_e pidIndex);
-uint8_t * getD_FFRefByBank(pidBank_t *pidBank, pidIndex_e pidIndex);
+uint16_t * getD_FFRefByBank(pidBank_t *pidBank, pidIndex_e pidIndex);