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AP_Compass: compiler warnings: apply is_zero(float) or is_equal(float)

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This commit is contained in:
Tom Pittenger 2015-05-02 02:08:35 -07:00 committed by Andrew Tridgell
parent 820199635b
commit ad11a57f57
4 changed files with 5 additions and 5 deletions
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2
libraries/AP_Camera/AP_Camera.cpp
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@ -235,7 +235,7 @@ void AP_Camera::send_feedback(mavlink_channel_t chan, AP_GPS &gps, const AP_AHRS
*/ */
bool AP_Camera::update_location(const struct Location &loc) bool AP_Camera::update_location(const struct Location &loc)
{ {
if (_trigg_dist == 0.0f) { if (AP_Math::is_zero(_trigg_dist)) {
return false; return false;
} }
if (_last_location.lat == 0 && _last_location.lng == 0) { if (_last_location.lat == 0 && _last_location.lng == 0) {

2
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -284,7 +284,7 @@ bool AP_Compass_AK8963_MPU9250::read_raw()
_mag_y = (float) int16_val(rx, 2); _mag_y = (float) int16_val(rx, 2);
_mag_z = (float) int16_val(rx, 3); _mag_z = (float) int16_val(rx, 3);
if (_mag_x == 0 && _mag_y == 0 && _mag_z == 0) { if (AP_Math::is_zero(_mag_x) && AP_Math::is_zero(_mag_y) && AP_Math::is_zero(_mag_z)) {
return false; return false;
} }

2
libraries/AP_Compass/AP_Compass_Backend.cpp
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@ -60,7 +60,7 @@ void AP_Compass_Backend::apply_corrections(Vector3f &mag, uint8_t i)
being applied so it can be logged correctly being applied so it can be logged correctly
*/ */
mag += offsets; mag += offsets;
if(_compass._motor_comp_type != AP_COMPASS_MOT_COMP_DISABLED && _compass._thr_or_curr != 0.0f) { if(_compass._motor_comp_type != AP_COMPASS_MOT_COMP_DISABLED && !AP_Math::is_zero(_compass._thr_or_curr)) {
state.motor_offset = mot * _compass._thr_or_curr; state.motor_offset = mot * _compass._thr_or_curr;
mag += state.motor_offset; mag += state.motor_offset;
} else { } else {

4
libraries/AP_Compass/Compass.cpp
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@ -533,7 +533,7 @@ bool Compass::configured(uint8_t i)
} }
// exit immediately if all offsets are zero // exit immediately if all offsets are zero
if (get_offsets(i).length() == 0.0f) { if (AP_Math::is_zero(get_offsets(i).length())) {
return false; return false;
} }
@ -575,7 +575,7 @@ void Compass::setHIL(float roll, float pitch, float yaw)
// create a rotation matrix for the given attitude // create a rotation matrix for the given attitude
R.from_euler(roll, pitch, yaw); R.from_euler(roll, pitch, yaw);
if (_hil.last_declination != get_declination()) { if (!AP_Math::is_equal(_hil.last_declination,get_declination())) {
_setup_earth_field(); _setup_earth_field();
_hil.last_declination = get_declination(); _hil.last_declination = get_declination();
} }