mirror of https://github.com/ArduPilot/ardupilot
AC_AttControlHeli: cast fabs to float to resolve compiler warning
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1f2e38ed28
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5128991a84
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@ -146,13 +146,13 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target
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pitch_out = pitch_pd + pitch_i + pitch_ff;
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pitch_out = pitch_pd + pitch_i + pitch_ff;
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// constrain output and update limit flags
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// constrain output and update limit flags
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if (fabs(roll_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
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if ((float)fabs(roll_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
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roll_out = constrain_float(roll_out,-AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX);
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roll_out = constrain_float(roll_out,-AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX);
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_flags_heli.limit_roll = true;
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_flags_heli.limit_roll = true;
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}else{
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}else{
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_flags_heli.limit_roll = false;
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_flags_heli.limit_roll = false;
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}
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}
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if (fabs(pitch_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
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if ((float)fabs(pitch_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
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pitch_out = constrain_float(pitch_out,-AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX);
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pitch_out = constrain_float(pitch_out,-AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX);
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_flags_heli.limit_pitch = true;
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_flags_heli.limit_pitch = true;
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}else{
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}else{
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@ -277,7 +277,7 @@ float AC_AttitudeControl_Heli::rate_bf_to_motor_yaw(float rate_target_cds)
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yaw_out = pd + i + ff;
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yaw_out = pd + i + ff;
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// constrain output and update limit flag
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// constrain output and update limit flag
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if (fabs(yaw_out) > AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX) {
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if ((float)fabs(yaw_out) > AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX) {
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yaw_out = constrain_float(yaw_out,-AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX);
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yaw_out = constrain_float(yaw_out,-AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX);
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_flags_heli.limit_yaw = true;
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_flags_heli.limit_yaw = true;
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}else{
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}else{
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