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AC_AttitudeControl: store acro passthrough values as float 

The function which sets these has floats, and the function we send them
to uses floats... so store them as floats...
This commit is contained in:
Peter Barker 2019-04-04 15:46:06 +11:00 committed by Randy Mackay
parent 601504e685
commit 70aed0f29c
1 changed files with 3 additions and 4 deletions
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7
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
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@ -36,7 +36,6 @@ public:
AP_MotorsHeli& motors,
float dt) :
AC_AttitudeControl(ahrs, aparm, motors, dt),
_passthrough_roll(0), _passthrough_pitch(0), _passthrough_yaw(0),
_pid_rate_roll(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_IMAX, AC_ATC_HELI_RATE_RP_FILT_HZ, dt, AC_ATC_HELI_RATE_RP_FF),
_pid_rate_pitch(AC_ATC_HELI_RATE_RP_P, AC_ATC_HELI_RATE_RP_I, AC_ATC_HELI_RATE_RP_D, AC_ATC_HELI_RATE_RP_IMAX, AC_ATC_HELI_RATE_RP_FILT_HZ, dt, AC_ATC_HELI_RATE_RP_FF),
_pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATC_HELI_RATE_YAW_FILT_HZ, dt, AC_ATC_HELI_RATE_YAW_FF),
@ -136,11 +135,11 @@ private:
//
// pass through for roll and pitch
int16_t _passthrough_roll;
int16_t _passthrough_pitch;
float _passthrough_roll;
float _passthrough_pitch;
// pass through for yaw if tail_passthrough is set
int16_t _passthrough_yaw;
float _passthrough_yaw;
// get_roll_trim - angle in centi-degrees to be added to roll angle. Used by helicopter to counter tail rotor thrust in hover
float get_roll_trim_rad() override { return constrain_float(radians(_hover_roll_trim_scalar * _hover_roll_trim * 0.01f), -radians(10.0f),radians(10.0f));}