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AP_Motors: MotorsHeli_Single utilize an explicit type cast to avoid the loss of a fractional part.

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Pierre Kancir 2016-12-01 17:18:30 +01:00 committed by Lucas De Marchi
parent 03b5523b43
commit 8ef5067e12
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -512,7 +512,7 @@ void AP_MotorsHeli_Single::servo_test()
if ((_servo_test_cycle_time >= 0.0f && _servo_test_cycle_time < 0.5f)|| // Tilt swash back
(_servo_test_cycle_time >= 6.0f && _servo_test_cycle_time < 6.5f)){
_pitch_test += (1.0f / (_loop_rate/2));
_pitch_test += (1.0f / (_loop_rate / 2.0f));
_oscillate_angle += 8 * M_PI / _loop_rate;
_yaw_test = 0.5f * sinf(_oscillate_angle);
} else if ((_servo_test_cycle_time >= 0.5f && _servo_test_cycle_time < 4.5f)|| // Roll swash around
@ -523,7 +523,7 @@ void AP_MotorsHeli_Single::servo_test()
_yaw_test = sinf(_oscillate_angle);
} else if ((_servo_test_cycle_time >= 4.5f && _servo_test_cycle_time < 5.0f)|| // Return swash to level
(_servo_test_cycle_time >= 10.5f && _servo_test_cycle_time < 11.0f)){
_pitch_test -= (1.0f / (_loop_rate/2));
_pitch_test -= (1.0f / (_loop_rate / 2.0f));
_oscillate_angle += 8 * M_PI / _loop_rate;
_yaw_test = 0.5f * sinf(_oscillate_angle);
} else if (_servo_test_cycle_time >= 5.0f && _servo_test_cycle_time < 6.0f){ // Raise swash to top