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AC_AttitudeControl: fixed use of double precision maths

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This commit is contained in:
Andrew Tridgell 2018-05-04 11:20:34 +10:00
parent 48e27ab242
commit 9766c4ed26
3 changed files with 3 additions and 3 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -268,7 +268,7 @@ void AC_AttitudeControl_Heli::rate_controller_run()
// Update Alt_Hold angle maximum // Update Alt_Hold angle maximum
void AC_AttitudeControl_Heli::update_althold_lean_angle_max(float throttle_in) void AC_AttitudeControl_Heli::update_althold_lean_angle_max(float throttle_in)
{ {
float althold_lean_angle_max = acos(constrain_float(_throttle_in/AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX, 0.0f, 1.0f)); float althold_lean_angle_max = acosf(constrain_float(_throttle_in/AC_ATTITUDE_HELI_ANGLE_LIMIT_THROTTLE_MAX, 0.0f, 1.0f));
_althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(althold_lean_angle_max-_althold_lean_angle_max); _althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(althold_lean_angle_max-_althold_lean_angle_max);
} }

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -188,7 +188,7 @@ void AC_AttitudeControl_Multi::update_althold_lean_angle_max(float throttle_in)
return; return;
} }
float althold_lean_angle_max = acos(constrain_float(_throttle_in/(AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX * thr_max), 0.0f, 1.0f)); float althold_lean_angle_max = acosf(constrain_float(_throttle_in/(AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX * thr_max), 0.0f, 1.0f));
_althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(althold_lean_angle_max-_althold_lean_angle_max); _althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(althold_lean_angle_max-_althold_lean_angle_max);
} }

2
libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
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@ -195,7 +195,7 @@ void AC_AttitudeControl_Sub::update_althold_lean_angle_max(float throttle_in)
return; return;
} }
float althold_lean_angle_max = acos(constrain_float(_throttle_in/(AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX * thr_max), 0.0f, 1.0f)); float althold_lean_angle_max = acosf(constrain_float(_throttle_in/(AC_ATTITUDE_CONTROL_ANGLE_LIMIT_THROTTLE_MAX * thr_max), 0.0f, 1.0f));
_althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(althold_lean_angle_max-_althold_lean_angle_max); _althold_lean_angle_max = _althold_lean_angle_max + (_dt/(_dt+_angle_limit_tc))*(althold_lean_angle_max-_althold_lean_angle_max);
} }