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AP_BARO: revert AP_Math class change

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This commit is contained in:
Andrew Tridgell 2015-05-05 12:35:03 +10:00
parent 4d4a607b80
commit 48fb7f8159
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Baro/AP_Baro.cpp
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@ -197,7 +197,7 @@ float AP_Baro::get_altitude_difference(float base_pressure, float pressure) cons
float AP_Baro::get_EAS2TAS(void) float AP_Baro::get_EAS2TAS(void)
{ {
float altitude = get_altitude(); float altitude = get_altitude();
if ((fabsf(altitude - _last_altitude_EAS2TAS) < 100.0f) && !AP_Math::is_zero(_EAS2TAS)) { if ((fabsf(altitude - _last_altitude_EAS2TAS) < 100.0f) && !is_zero(_EAS2TAS)) {
// not enough change to require re-calculating // not enough change to require re-calculating
return _EAS2TAS; return _EAS2TAS;
} }
@ -318,13 +318,13 @@ void AP_Baro::update(void)
// last 0.5 seconds // last 0.5 seconds
uint32_t now = hal.scheduler->millis(); uint32_t now = hal.scheduler->millis();
for (uint8_t i=0; i<_num_sensors; i++) { for (uint8_t i=0; i<_num_sensors; i++) {
sensors[i].healthy = (now - sensors[i].last_update_ms < 500) && !AP_Math::is_zero(sensors[i].pressure); sensors[i].healthy = (now - sensors[i].last_update_ms < 500) && !is_zero(sensors[i].pressure);
} }
for (uint8_t i=0; i<_num_sensors; i++) { for (uint8_t i=0; i<_num_sensors; i++) {
if (sensors[i].healthy) { if (sensors[i].healthy) {
// update altitude calculation // update altitude calculation
if (AP_Math::is_zero(sensors[i].ground_pressure)) { if (is_zero(sensors[i].ground_pressure)) {
sensors[i].ground_pressure = sensors[i].pressure; sensors[i].ground_pressure = sensors[i].pressure;
} }
sensors[i].altitude = get_altitude_difference(sensors[i].ground_pressure, sensors[i].pressure); sensors[i].altitude = get_altitude_difference(sensors[i].ground_pressure, sensors[i].pressure);