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Plane: avoid int32_t<->float conversions

This commit is contained in:
Peter Barker 2019-02-28 22:11:05 +11:00 committed by Peter Barker
parent e744df585c
commit a451380d61
2 changed files with 2 additions and 2 deletions
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2
ArduPlane/qautotune.cpp
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@ -27,7 +27,7 @@ float QAutoTune::get_pilot_desired_climb_rate_cms(void) const
return plane.quadplane.get_pilot_desired_climb_rate_cms();
}
void QAutoTune::get_pilot_desired_rp_yrate_cd(int32_t &des_roll_cd, int32_t &des_pitch_cd, int32_t &yaw_rate_cds)
void QAutoTune::get_pilot_desired_rp_yrate_cd(float &des_roll_cd, float &des_pitch_cd, float &yaw_rate_cds)
{
if (plane.channel_roll->get_control_in() == 0 && plane.channel_pitch->get_control_in() == 0) {
des_roll_cd = 0;

2
ArduPlane/qautotune.h
View File

@ -21,7 +21,7 @@ public:
protected:
float get_pilot_desired_climb_rate_cms(void) const override;
void get_pilot_desired_rp_yrate_cd(int32_t &roll_cd, int32_t &pitch_cd, int32_t &yaw_rate_cds) override;
void get_pilot_desired_rp_yrate_cd(float &roll_cd, float &pitch_cd, float &yaw_rate_cds) override;
void init_z_limits() override;
void Log_Write_Event(enum at_event id) override;
void log_pids() override;