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AP_PID: replace fabs() with fabsf()

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This commit is contained in:
Tom Pittenger 2015-05-08 11:42:13 -07:00 committed by Andrew Tridgell
parent 70bef20a29
commit 9d74f57ed3
4 changed files with 10 additions and 10 deletions
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8
libraries/AC_PID/AC_PID.cpp
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@ -52,7 +52,7 @@ AC_PID::AC_PID(float initial_p, float initial_i, float initial_d, float initial_
_kp = initial_p; _kp = initial_p;
_ki = initial_i; _ki = initial_i;
_kd = initial_d; _kd = initial_d;
_imax = fabs(initial_imax); _imax = fabsf(initial_imax);
filt_hz(initial_filt_hz); filt_hz(initial_filt_hz);
// reset input filter to first value received // reset input filter to first value received
@ -69,7 +69,7 @@ void AC_PID::set_dt(float dt)
// filt_hz - set input filter hz // filt_hz - set input filter hz
void AC_PID::filt_hz(float hz) void AC_PID::filt_hz(float hz)
{ {
_filt_hz.set(fabs(hz)); _filt_hz.set(fabsf(hz));
// sanity check _filt_hz // sanity check _filt_hz
_filt_hz = max(_filt_hz, AC_PID_FILT_HZ_MIN); _filt_hz = max(_filt_hz, AC_PID_FILT_HZ_MIN);
@ -171,7 +171,7 @@ void AC_PID::load_gains()
_ki.load(); _ki.load();
_kd.load(); _kd.load();
_imax.load(); _imax.load();
_imax = fabs(_imax); _imax = fabsf(_imax);
_filt_hz.load(); _filt_hz.load();
} }
@ -191,7 +191,7 @@ void AC_PID::operator() (float p, float i, float d, float imaxval, float input_f
_kp = p; _kp = p;
_ki = i; _ki = i;
_kd = d; _kd = d;
_imax = fabs(imaxval); _imax = fabsf(imaxval);
_filt_hz = input_filt_hz; _filt_hz = input_filt_hz;
_dt = dt; _dt = dt;
} }

2
libraries/AC_PID/AC_PID.h
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@ -69,7 +69,7 @@ public:
void kP(const float v) { _kp.set(v); } void kP(const float v) { _kp.set(v); }
void kI(const float v) { _ki.set(v); } void kI(const float v) { _ki.set(v); }
void kD(const float v) { _kd.set(v); } void kD(const float v) { _kd.set(v); }
void imax(const float v) { _imax.set(fabs(v)); } void imax(const float v) { _imax.set(fabsf(v)); }
void filt_hz(const float v); void filt_hz(const float v);
float get_integrator() const { return _integrator; } float get_integrator() const { return _integrator; }

8
libraries/AC_PID/AC_PI_2D.cpp
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@ -40,7 +40,7 @@ AC_PI_2D::AC_PI_2D(float initial_p, float initial_i, float initial_imax, float i
_kp = initial_p; _kp = initial_p;
_ki = initial_i; _ki = initial_i;
_imax = fabs(initial_imax); _imax = fabsf(initial_imax);
filt_hz(initial_filt_hz); filt_hz(initial_filt_hz);
// reset input filter to first value received // reset input filter to first value received
@ -58,7 +58,7 @@ void AC_PI_2D::set_dt(float dt)
// filt_hz - set input filter hz // filt_hz - set input filter hz
void AC_PI_2D::filt_hz(float hz) void AC_PI_2D::filt_hz(float hz)
{ {
_filt_hz.set(fabs(hz)); _filt_hz.set(fabsf(hz));
// sanity check _filt_hz // sanity check _filt_hz
_filt_hz = max(_filt_hz, AC_PI_2D_FILT_HZ_MIN); _filt_hz = max(_filt_hz, AC_PI_2D_FILT_HZ_MIN);
@ -136,7 +136,7 @@ void AC_PI_2D::load_gains()
_kp.load(); _kp.load();
_ki.load(); _ki.load();
_imax.load(); _imax.load();
_imax = fabs(_imax); _imax = fabsf(_imax);
_filt_hz.load(); _filt_hz.load();
// calculate the input filter alpha // calculate the input filter alpha
@ -157,7 +157,7 @@ void AC_PI_2D::operator() (float p, float i, float imaxval, float input_filt_hz,
{ {
_kp = p; _kp = p;
_ki = i; _ki = i;
_imax = fabs(imaxval); _imax = fabsf(imaxval);
_filt_hz = input_filt_hz; _filt_hz = input_filt_hz;
_dt = dt; _dt = dt;
// calculate the input filter alpha // calculate the input filter alpha

2
libraries/AC_PID/AC_PI_2D.h
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@ -62,7 +62,7 @@ public:
// set accessors // set accessors
void kP(const float v) { _kp.set(v); } void kP(const float v) { _kp.set(v); }
void kI(const float v) { _ki.set(v); } void kI(const float v) { _ki.set(v); }
void imax(const float v) { _imax.set(fabs(v)); } void imax(const float v) { _imax.set(fabsf(v)); }
void filt_hz(const float v); void filt_hz(const float v);
Vector2f get_integrator() const { return _integrator; } Vector2f get_integrator() const { return _integrator; }