Modify param name.

rm-controls · Jul 18, 2024 · 5452b74 · 5452b74
1 parent 5904f01
commit 5452b74
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/include/rm_manual/chassis_gimbal_shooter_manual.h b/include/rm_manual/chassis_gimbal_shooter_manual.h
@@ -126,6 +126,6 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
 
   bool prepare_shoot_ = false, turn_x_flag_ = false, turn_ctrl_r_flag_ = false, is_balance_ = false, use_scope_ = false,
        adjust_image_transmission_ = false;
-  double yaw_current_{}, pitch_pid_pos_error_{}, pitch_pos_des_{};
+  double yaw_current_{}, pitch_pos_error_{}, pitch_pos_des_{};
 };
 }  // namespace rm_manual
diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
@@ -144,7 +144,7 @@ void ChassisGimbalShooterManual::gimbalDesErrorCallback(const rm_msgs::GimbalDes
 void ChassisGimbalShooterManual::gimbalPosStateCallback(const rm_msgs::GimbalPosState::ConstPtr& data)
 {
   ManualBase::gimbalPosStateCallback(data);
-  pitch_pid_pos_error_ = data->error;
+  pitch_pos_error_ = data->error;
   pitch_pos_des_ = data->set_point;
 }
 
@@ -654,7 +654,7 @@ void ChassisGimbalShooterManual::ctrlRReleasing()
   {
     gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::DIRECT);
     gimbal_cmd_sender_->setPoint(point_out_);
-    if (pitch_pid_pos_error_ > -0.005 && pitch_pos_des_ < -0.6)
+    if (pitch_pos_error_ > -0.005 && pitch_pos_des_ < -0.6)
     {
       gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::RATE);
       turn_ctrl_r_flag_ = false;