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AP_L1_Control: fixed some warnings

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This commit is contained in:
Andrew Tridgell 2014-10-22 16:15:34 +11:00
parent 05c325a12a
commit 59610ebe88
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_L1_Control/AP_L1_Control.cpp
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@ -114,9 +114,9 @@ float AP_L1_Control::crosstrack_error(void) const
*/
void AP_L1_Control::_prevent_indecision(float &Nu)
{
const float Nu_limit = 0.9f*M_PI;
if (fabs(Nu) > Nu_limit &&
fabs(_last_Nu) > Nu_limit &&
const float Nu_limit = 0.9f*M_PI_F;
if (fabsf(Nu) > Nu_limit &&
fabsf(_last_Nu) > Nu_limit &&
fabsf(wrap_180_cd(_target_bearing_cd - _ahrs.yaw_sensor)) > 12000 &&
Nu * _last_Nu < 0.0f) {
// we are moving away from the target waypoint and pointing
@ -269,7 +269,7 @@ void AP_L1_Control::update_loiter(const struct Location &center_WP, float radius
// if too close to the waypoint, use the velocity vector
// if the velocity vector is too small, use the heading vector
Vector2f A_air_unit;
if (A_air.length() > 0.1) {
if (A_air.length() > 0.1f) {
A_air_unit = A_air.normalized();
} else {
if (_groundspeed_vector.length() < 0.1f) {