From 04e593f4723c1974ba39bc323d24d7c80c027a99 Mon Sep 17 00:00:00 2001
From: alyzenjeraj <alyzenjeraj@gmail.com>
Date: Tue, 2 Apr 2024 19:29:52 -0400
Subject: [PATCH] Fixed yawLimit typo

---
 AttitudeManager/FlightModes/Src/fbwa.cpp |  2 +-
 out.txt                                  | 15 +++++++++++++++
 2 files changed, 16 insertions(+), 1 deletion(-)
 create mode 100644 out.txt

diff --git a/AttitudeManager/FlightModes/Src/fbwa.cpp b/AttitudeManager/FlightModes/Src/fbwa.cpp
index 96036969..561941f9 100644
--- a/AttitudeManager/FlightModes/Src/fbwa.cpp
+++ b/AttitudeManager/FlightModes/Src/fbwa.cpp
@@ -18,7 +18,7 @@ namespace AM {
         // Mapping maintains 0->0 I/O
         mappedOutputs.pitch = input.pitch < 0 ? input.pitch * (fbwa_control_limits.pitchLimit.min /  AM::AttitudeManager::INPUT_MIN) : input.pitch * (fbwa_control_limits.pitchLimit.max /  AM::AttitudeManager::INPUT_MAX);        
         mappedOutputs.roll = input.roll < 0 ? input.roll * (fbwa_control_limits.rollLimit.min /  AM::AttitudeManager::INPUT_MIN) : input.roll * (fbwa_control_limits.rollLimit.max /  AM::AttitudeManager::INPUT_MAX);        
-        mappedOutputs.yaw = input.yaw < 0 ? input.yaw * (fbwa_control_limits.yawLimit.min /  AM::AttitudeManager::INPUT_MIN) : input.yaw * (fbwa_control_limits.rollLimit.max /  AM::AttitudeManager::INPUT_MAX);
+        mappedOutputs.yaw = input.yaw < 0 ? input.yaw * (fbwa_control_limits.yawLimit.min /  AM::AttitudeManager::INPUT_MIN) : input.yaw * (fbwa_control_limits.yawLimit.max /  AM::AttitudeManager::INPUT_MAX);
 
         // Throttle maps -100-100 to range 0-100
         mappedOutputs.throttle = fbwa_control_limits.throttleLimit.min + (input.throttle - AM::AttitudeManager::INPUT_MIN) * (fbwa_control_limits.throttleLimit.max - fbwa_control_limits.throttleLimit.min) / (AM::AttitudeManager::INPUT_MAX - AM::AttitudeManager::INPUT_MIN);
diff --git a/out.txt b/out.txt
new file mode 100644
index 00000000..2c0c1ef5
--- /dev/null
+++ b/out.txt
@@ -0,0 +1,15 @@
+Building ZeroPilot for firmware.
+Building for platform nucleol552zeq and model example_model.
+Cleaning old firmware build environment.
+
+Creating Unix Makefiles build system...
+-- The C compiler identification is unknown
+-- The CXX compiler identification is unknown
+-- The ASM compiler identification is unknown
+-- Found assembler: arm-none-eabi-gcc
+-- Warning: Did not find file Compiler/-ASM
+-- Configuring incomplete, errors occurred!
+See also "/home/ajeraj/git/efs-zeropilot-3.5/Tools/Firmware/build/CMakeFiles/CMakeOutput.log".
+See also "/home/ajeraj/git/efs-zeropilot-3.5/Tools/Firmware/build/CMakeFiles/CMakeError.log".
+
+Error: Failed to create Unix Makefiles build system.