From c53a530e472c7d1becd5a2de3c55d2ced3b6e310 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ra=C3=BAl=20Ortega?= <raul-ortega@users.noreply.github.com>
Date: Wed, 23 Sep 2020 20:39:42 +0200
Subject: [PATCH] Revert "tiltTarget type"

This reverts commit fdbd788514a6a46b471c78d1f03460ea47aacbb2.
---
 .gitignore              |  1 -
 src/main/tracker/main.c | 16 ++++++++++------
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/.gitignore b/.gitignore
index a348f72..1b0c5c4 100755
--- a/.gitignore
+++ b/.gitignore
@@ -20,4 +20,3 @@ README.pdf
 /Release/
 /Debug/
 /makeall.sh
-src/main/telemetry/mavlink_v1.zip
diff --git a/src/main/tracker/main.c b/src/main/tracker/main.c
index f06c08a..673bfa5 100755
--- a/src/main/tracker/main.c
+++ b/src/main/tracker/main.c
@@ -158,11 +158,12 @@ void servosInit(void);
 
 //EASING
 int16_t _lastTilt;
+int16_t tilt;
 bool _servo_tilt_has_arrived = true;
 uint8_t _tilt_pos = 0;
 float _servo_tilt_must_move = -1;
 float easingout = 0.0f;
-uint8_t tiltTarget = 0;
+float tiltTarget;
 
 //TIMER/CALIB
 unsigned long time;
@@ -497,7 +498,7 @@ void calcTilt(void) {
     targetPosition.distance = 1;
   }
 
-  tiltTarget = (uint8_t)toDeg(atan((float)(targetPosition.alt - trackerPosition.alt) / targetPosition.distance));
+  tiltTarget = toDeg(atan((float)(targetPosition.alt - trackerPosition.alt) / targetPosition.distance));
 
   if (tiltTarget < 0)
     tiltTarget = 0;
@@ -508,13 +509,13 @@ void calcTilt(void) {
 
   if(feature(FEATURE_EASING)) {
 	if(_servo_tilt_has_arrived){
-		_servo_tilt_must_move = (float)tiltTarget;
+		_servo_tilt_must_move = tiltTarget;
 		_servo_tilt_has_arrived = false;
 		_tilt_pos = 0;
 	}
   }
   else {
-	pwmTilt = (uint16_t) map((uint16_t)tiltTarget,0,90,masterConfig.tilt0, masterConfig.tilt90);
+	pwmTilt = (uint16_t) map(tiltTarget,0,90,masterConfig.tilt0, masterConfig.tilt90);
     pwmWriteServo(masterConfig.tilt_pin,pwmTilt);
   }
 }
@@ -776,8 +777,11 @@ void updateServoTest(void){
 				  _servo_tilt_must_move = SERVOTEST_TILT;
 				  _servo_tilt_has_arrived = false;
 			}
-		    pwmTilt = map((uint16_t)SERVOTEST_TILT, 0, 90, masterConfig.tilt0, masterConfig.tilt90);
-			pwmWriteServo(masterConfig.tilt_pin,pwmTilt);
+			else
+			{
+				tilt = map(SERVOTEST_TILT, 0, 90, masterConfig.tilt0, masterConfig.tilt90);
+				pwmWriteServo(masterConfig.tilt_pin,tilt);
+			}
 			DISABLE_SERVO(SERVOTILT_MOVE);
 		}
 	}