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AC_PosControl: cast fabs to float to resolve compiler warnings

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This commit is contained in:
Randy Mackay 2014-07-14 23:28:19 +09:00 committed by unknown
parent 52d5109a6c
commit 9233bbab14
1 changed files with 6 additions and 6 deletions
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12
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -91,9 +91,9 @@ void AC_PosControl::set_dt(float delta_sec)
void AC_PosControl::set_speed_z(float speed_down, float speed_up) void AC_PosControl::set_speed_z(float speed_down, float speed_up)
{ {
// ensure speed_down is always negative // ensure speed_down is always negative
speed_down = -fabs(speed_down); speed_down = (float)-fabs(speed_down);
if ((fabs(_speed_down_cms-speed_down) > 1.0f) || (fabs(_speed_up_cms-speed_up) > 1.0f)) { if (((float)fabs(_speed_down_cms-speed_down) > 1.0f) || ((float)fabs(_speed_up_cms-speed_up) > 1.0f)) {
_speed_down_cms = speed_down; _speed_down_cms = speed_down;
_speed_up_cms = speed_up; _speed_up_cms = speed_up;
_flags.recalc_leash_z = true; _flags.recalc_leash_z = true;
@ -103,7 +103,7 @@ void AC_PosControl::set_speed_z(float speed_down, float speed_up)
/// set_accel_z - set vertical acceleration in cm/s/s /// set_accel_z - set vertical acceleration in cm/s/s
void AC_PosControl::set_accel_z(float accel_cmss) void AC_PosControl::set_accel_z(float accel_cmss)
{ {
if (fabs(_accel_z_cms-accel_cmss) > 1.0f) { if ((float)fabs(_accel_z_cms-accel_cmss) > 1.0f) {
_accel_z_cms = accel_cmss; _accel_z_cms = accel_cmss;
_flags.recalc_leash_z = true; _flags.recalc_leash_z = true;
} }
@ -172,7 +172,7 @@ void AC_PosControl::get_stopping_point_z(Vector3f& stopping_point) const
// calculate the velocity at which we switch from calculating the stopping point using a linear function to a sqrt function // calculate the velocity at which we switch from calculating the stopping point using a linear function to a sqrt function
linear_velocity = _accel_z_cms/_p_alt_pos.kP(); linear_velocity = _accel_z_cms/_p_alt_pos.kP();
if (fabs(curr_vel_z) < linear_velocity) { if ((float)fabs(curr_vel_z) < linear_velocity) {
// if our current velocity is below the cross-over point we use a linear function // if our current velocity is below the cross-over point we use a linear function
stopping_point.z = curr_pos_z + curr_vel_z/_p_alt_pos.kP(); stopping_point.z = curr_pos_z + curr_vel_z/_p_alt_pos.kP();
} else { } else {
@ -399,7 +399,7 @@ void AC_PosControl::accel_to_throttle(float accel_target_z)
/// calc_leash_length_xy should be called afterwards /// calc_leash_length_xy should be called afterwards
void AC_PosControl::set_accel_xy(float accel_cmss) void AC_PosControl::set_accel_xy(float accel_cmss)
{ {
if (fabs(_accel_cms-accel_cmss) > 1.0f) { if ((float)fabs(_accel_cms-accel_cmss) > 1.0f) {
_accel_cms = accel_cmss; _accel_cms = accel_cmss;
_flags.recalc_leash_xy = true; _flags.recalc_leash_xy = true;
} }
@ -409,7 +409,7 @@ void AC_PosControl::set_accel_xy(float accel_cmss)
/// calc_leash_length_xy should be called afterwards /// calc_leash_length_xy should be called afterwards
void AC_PosControl::set_speed_xy(float speed_cms) void AC_PosControl::set_speed_xy(float speed_cms)
{ {
if (fabs(_speed_cms-speed_cms) > 1.0f) { if ((float)fabs(_speed_cms-speed_cms) > 1.0f) {
_speed_cms = speed_cms; _speed_cms = speed_cms;
_flags.recalc_leash_xy = true; _flags.recalc_leash_xy = true;
} }