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Copter: fix compile warnings by converting .f to .0f

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This commit is contained in:
Tom Pittenger 2015-04-24 14:19:45 +09:00 committed by Randy Mackay
parent dbc01e2f1a
commit 66c7090f00
4 changed files with 9 additions and 9 deletions
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2
ArduCopter/ArduCopter.pde
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@ -842,7 +842,7 @@ void loop()
perf_info_check_loop_time(timer - fast_loopTimer);
// used by PI Loops
G_Dt = (float)(timer - fast_loopTimer) / 1000000.f;
G_Dt = (float)(timer - fast_loopTimer) / 1000000.0f;
fast_loopTimer = timer;
// for mainloop failure monitoring

2
ArduCopter/GCS_Mavlink.pde
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@ -762,7 +762,7 @@ bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
// parameter sends
if ((stream_num != STREAM_PARAMS) &&
(waypoint_receiving || _queued_parameter != NULL)) {
rate *= 0.25;
rate *= 0.25f;
}
if (rate <= 0) {

12
ArduCopter/control_drift.pde
View File

@ -40,8 +40,8 @@ static bool drift_init(bool ignore_checks)
// should be called at 100hz or more
static void drift_run()
{
static float breaker = 0.0;
static float roll_input = 0.0;
static float breaker = 0.0f;
static float roll_input = 0.0f;
float target_roll, target_pitch;
float target_yaw_rate;
int16_t pilot_throttle_scaled;
@ -72,7 +72,7 @@ static void drift_run()
roll_vel = constrain_float(roll_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
pitch_vel = constrain_float(pitch_vel, -DRIFT_SPEEDLIMIT, DRIFT_SPEEDLIMIT);
roll_input = roll_input * .96 + (float)g.rc_4.control_in * .04;
roll_input = roll_input * .96f + (float)g.rc_4.control_in * .04f;
//convert user input into desired roll velocity
float roll_vel_error = roll_vel - (roll_input / DRIFT_SPEEDGAIN);
@ -84,11 +84,11 @@ static void drift_run()
// If we let go of sticks, bring us to a stop
if(target_pitch == 0){
// .14/ (.03 * 100) = 4.6 seconds till full breaking
breaker += .03;
breaker += .03f;
breaker = min(breaker, DRIFT_SPEEDGAIN);
target_pitch = pitch_vel * breaker;
}else{
breaker = 0.0;
breaker = 0.0f;
}
// call attitude controller
@ -108,7 +108,7 @@ int16_t get_throttle_assist(float velz, int16_t pilot_throttle_scaled)
if (pilot_throttle_scaled > g.throttle_min && pilot_throttle_scaled < THR_MAX &&
pilot_throttle_scaled > DRIFT_THR_MIN && pilot_throttle_scaled < DRIFT_THR_MAX) {
// calculate throttle assist gain
thr_assist = 1.2 - ((float)abs(pilot_throttle_scaled - 500) / 240.0f);
thr_assist = 1.2f - ((float)abs(pilot_throttle_scaled - 500) / 240.0f);
thr_assist = constrain_float(thr_assist, 0.0f, 1.0f) * -DRIFT_THR_ASSIST_GAIN * velz;
// ensure throttle assist never adjusts the throttle by more than 300 pwm

2
ArduCopter/test.pde
View File

@ -113,7 +113,7 @@ test_compass(uint8_t argc, const Menu::arg *argv)
delay(20);
if (millis() - fast_loopTimer > 19) {
delta_ms_fast_loop = millis() - fast_loopTimer;
G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator
G_Dt = (float)delta_ms_fast_loop / 1000.0f; // used by DCM integrator
fast_loopTimer = millis();
// INS