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Rover: revert AP_Math class change

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This commit is contained in:
Andrew Tridgell 2015-05-05 12:34:02 +10:00
parent 936fbbb362
commit 686d1e7548
4 changed files with 14 additions and 14 deletions
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18
APMrover2/GCS_Mavlink.pde
View File

@ -869,7 +869,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_PREFLIGHT_CALIBRATION:
if (AP_Math::is_equal(packet.param1,1.0f)) {
if (is_equal(packet.param1,1.0f)) {
ins.init_gyro();
if (ins.gyro_calibrated_ok_all()) {
ahrs.reset_gyro_drift();
@ -877,13 +877,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} else {
result = MAV_RESULT_FAILED;
}
} else if (AP_Math::is_equal(packet.param3,1.0f)) {
} else if (is_equal(packet.param3,1.0f)) {
init_barometer();
result = MAV_RESULT_ACCEPTED;
} else if (AP_Math::is_equal(packet.param4,1.0f)) {
} else if (is_equal(packet.param4,1.0f)) {
trim_radio();
result = MAV_RESULT_ACCEPTED;
} else if (AP_Math::is_equal(packet.param5,1.0f)) {
} else if (is_equal(packet.param5,1.0f)) {
float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(this);
if (g.skip_gyro_cal) {
@ -905,12 +905,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
if (AP_Math::is_equal(packet.param1,2.0f)) {
if (is_equal(packet.param1,2.0f)) {
// save first compass's offsets
compass.set_and_save_offsets(0, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
}
if (AP_Math::is_equal(packet.param1,5.0f)) {
if (is_equal(packet.param1,5.0f)) {
// save secondary compass's offsets
compass.set_and_save_offsets(1, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
@ -967,15 +967,15 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (AP_Math::is_equal(packet.param1,1.0f) || AP_Math::is_equal(packet.param1,3.0f)) {
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
// when packet.param1 == 3 we reboot to hold in bootloader
hal.scheduler->reboot(AP_Math::is_equal(packet.param1,3.0f));
hal.scheduler->reboot(is_equal(packet.param1,3.0f));
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (AP_Math::is_equal(packet.param1,1.0f)) {
if (is_equal(packet.param1,1.0f)) {
gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
result = MAV_RESULT_ACCEPTED;
}

2
APMrover2/Log.pde
View File

@ -337,7 +337,7 @@ struct PACKED log_Sonar {
static void Log_Write_Sonar()
{
uint16_t turn_time = 0;
if (!AP_Math::is_zero(obstacle.turn_angle)) {
if (!is_zero(obstacle.turn_angle)) {
turn_time = hal.scheduler->millis() - obstacle.detected_time_ms;
}
struct log_Sonar pkt = {

4
APMrover2/Steering.pde
View File

@ -40,7 +40,7 @@ static bool auto_check_trigger(void)
return true;
}
if (g.auto_trigger_pin == -1 && AP_Math::is_zero(g.auto_kickstart)) {
if (g.auto_trigger_pin == -1 && is_zero(g.auto_kickstart)) {
// no trigger configured - let's go!
auto_triggered = true;
return true;
@ -52,7 +52,7 @@ static bool auto_check_trigger(void)
return true;
}
if (!AP_Math::is_zero(g.auto_kickstart)) {
if (!is_zero(g.auto_kickstart)) {
float xaccel = ins.get_accel().x;
if (xaccel >= g.auto_kickstart) {
gcs_send_text_fmt(PSTR("Triggered AUTO xaccel=%.1f"), (double)xaccel);

4
APMrover2/test.pde
View File

@ -480,7 +480,7 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
float dist_cm = sonar.distance_cm(0);
float voltage = sonar.voltage_mv(0);
if (AP_Math::is_zero(sonar_dist_cm_min)) {
if (is_zero(sonar_dist_cm_min)) {
sonar_dist_cm_min = dist_cm;
voltage_min = voltage;
}
@ -491,7 +491,7 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
dist_cm = sonar.distance_cm(1);
voltage = sonar.voltage_mv(1);
if (AP_Math::is_zero(sonar2_dist_cm_min)) {
if (is_zero(sonar2_dist_cm_min)) {
sonar2_dist_cm_min = dist_cm;
voltage2_min = voltage;
}