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AVR_SITL: fix compile warnings re float constants

This commit is contained in:
Tom Pittenger 2015-04-24 12:47:07 +09:00 committed by Randy Mackay
parent 12b604663c
commit b7fb4022b4
4 changed files with 32 additions and 32 deletions
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2
libraries/AP_HAL_AVR_SITL/AnalogIn.cpp
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@ -47,7 +47,7 @@ float ADCSource::read_latest() {
case ANALOG_INPUT_NONE: case ANALOG_INPUT_NONE:
default: default:
return 0.0; return 0.0f;
} }
} }

14
libraries/AP_HAL_AVR_SITL/SITL_State.cpp
View File

@ -536,7 +536,7 @@ void SITL_State::_simulator_output(bool synthetic_clock_mode)
control.pwm[2] = ((control.pwm[2]-1000) * _sitl->engine_mul) + 1000; control.pwm[2] = ((control.pwm[2]-1000) * _sitl->engine_mul) + 1000;
if (control.pwm[2] > 2000) control.pwm[2] = 2000; if (control.pwm[2] > 2000) control.pwm[2] = 2000;
} }
_motors_on = ((control.pwm[2]-1000)/1000.0) > 0; _motors_on = ((control.pwm[2]-1000)/1000.0f) > 0;
} else if (_vehicle == APMrover2) { } else if (_vehicle == APMrover2) {
// add in engine multiplier // add in engine multiplier
if (control.pwm[2] != 1500) { if (control.pwm[2] != 1500) {
@ -544,7 +544,7 @@ void SITL_State::_simulator_output(bool synthetic_clock_mode)
if (control.pwm[2] > 2000) control.pwm[2] = 2000; if (control.pwm[2] > 2000) control.pwm[2] = 2000;
if (control.pwm[2] < 1000) control.pwm[2] = 1000; if (control.pwm[2] < 1000) control.pwm[2] = 1000;
} }
_motors_on = ((control.pwm[2]-1500)/500.0) != 0; _motors_on = ((control.pwm[2]-1500)/500.0f) != 0;
} else { } else {
_motors_on = false; _motors_on = false;
// apply engine multiplier to first motor // apply engine multiplier to first motor
@ -555,7 +555,7 @@ void SITL_State::_simulator_output(bool synthetic_clock_mode)
if (control.pwm[i] > 2000) control.pwm[i] = 2000; if (control.pwm[i] > 2000) control.pwm[i] = 2000;
if (control.pwm[i] < 1000) control.pwm[i] = 1000; if (control.pwm[i] < 1000) control.pwm[i] = 1000;
// update motor_on flag // update motor_on flag
if ((control.pwm[i]-1000)/1000.0 > 0) { if ((control.pwm[i]-1000)/1000.0f > 0) {
_motors_on = true; _motors_on = true;
} }
} }
@ -565,10 +565,10 @@ void SITL_State::_simulator_output(bool synthetic_clock_mode)
// lose 0.7V at full throttle // lose 0.7V at full throttle
float voltage = _sitl->batt_voltage - 0.7f*throttle; float voltage = _sitl->batt_voltage - 0.7f*throttle;
// assume 50A at full throttle // assume 50A at full throttle
_current = 50.0 * throttle; _current = 50.0f * throttle;
// assume 3DR power brick // assume 3DR power brick
voltage_pin_value = ((voltage / 10.1) / 5.0) * 1024; voltage_pin_value = ((voltage / 10.1f) / 5.0f) * 1024;
current_pin_value = ((_current / 17.0) / 5.0) * 1024; current_pin_value = ((_current / 17.0f) / 5.0f) * 1024;
// setup wind control // setup wind control
float wind_speed = _sitl->wind_speed * 100; float wind_speed = _sitl->wind_speed * 100;
@ -607,7 +607,7 @@ Vector3f SITL_State::_rand_vec3f(void)
Vector3f v = Vector3f(_rand_float(), Vector3f v = Vector3f(_rand_float(),
_rand_float(), _rand_float(),
_rand_float()); _rand_float());
if (v.length() != 0.0) { if (v.length() != 0.0f) {
v.normalize(); v.normalize();
} }
return v; return v;

38
libraries/AP_HAL_AVR_SITL/sitl_gps.cpp
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@ -101,7 +101,7 @@ int SITL_State::gps2_pipe(void)
void SITL_State::_gps_write(const uint8_t *p, uint16_t size) void SITL_State::_gps_write(const uint8_t *p, uint16_t size)
{ {
while (size--) { while (size--) {
if (_sitl->gps_byteloss > 0.0) { if (_sitl->gps_byteloss > 0.0f) {
float r = ((((unsigned)random()) % 1000000)) / 1.0e4; float r = ((((unsigned)random()) % 1000000)) / 1.0e4;
if (r < _sitl->gps_byteloss) { if (r < _sitl->gps_byteloss) {
// lose the byte // lose the byte
@ -222,8 +222,8 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d)
pos.time = time_week_ms; pos.time = time_week_ms;
pos.longitude = d->longitude * 1.0e7; pos.longitude = d->longitude * 1.0e7;
pos.latitude = d->latitude * 1.0e7; pos.latitude = d->latitude * 1.0e7;
pos.altitude_ellipsoid = d->altitude*1000.0; pos.altitude_ellipsoid = d->altitude*1000.0f;
pos.altitude_msl = d->altitude*1000.0; pos.altitude_msl = d->altitude*1000.0f;
pos.horizontal_accuracy = 1500; pos.horizontal_accuracy = 1500;
pos.vertical_accuracy = 2000; pos.vertical_accuracy = 2000;
@ -236,14 +236,14 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d)
status.uptime = hal.scheduler->millis(); status.uptime = hal.scheduler->millis();
velned.time = time_week_ms; velned.time = time_week_ms;
velned.ned_north = 100.0 * d->speedN; velned.ned_north = 100.0f * d->speedN;
velned.ned_east = 100.0 * d->speedE; velned.ned_east = 100.0f * d->speedE;
velned.ned_down = 100.0 * d->speedD; velned.ned_down = 100.0f * d->speedD;
velned.speed_2d = pythagorous2(d->speedN, d->speedE) * 100; velned.speed_2d = pythagorous2(d->speedN, d->speedE) * 100;
velned.speed_3d = pythagorous3(d->speedN, d->speedE, d->speedD) * 100; velned.speed_3d = pythagorous3(d->speedN, d->speedE, d->speedD) * 100;
velned.heading_2d = ToDeg(atan2f(d->speedE, d->speedN)) * 100000.0; velned.heading_2d = ToDeg(atan2f(d->speedE, d->speedN)) * 100000.0f;
if (velned.heading_2d < 0.0) { if (velned.heading_2d < 0.0f) {
velned.heading_2d += 360.0 * 100000.0; velned.heading_2d += 360.0f * 100000.0f;
} }
velned.speed_accuracy = 40; velned.speed_accuracy = 40;
velned.heading_accuracy = 4; velned.heading_accuracy = 4;
@ -312,9 +312,9 @@ void SITL_State::_update_gps_mtk(const struct gps_data *d)
p.longitude = d->longitude * 1.0e6; p.longitude = d->longitude * 1.0e6;
p.altitude = d->altitude * 100; p.altitude = d->altitude * 100;
p.ground_speed = pythagorous2(d->speedN, d->speedE) * 100; p.ground_speed = pythagorous2(d->speedN, d->speedE) * 100;
p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 1000000.0; p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 1000000.0f;
if (p.ground_course < 0.0) { if (p.ground_course < 0.0f) {
p.ground_course += 360.0 * 1000000.0; p.ground_course += 360.0f * 1000000.0f;
} }
p.satellites = d->have_lock?_sitl->gps_numsats:3; p.satellites = d->have_lock?_sitl->gps_numsats:3;
p.fix_type = d->have_lock?3:1; p.fix_type = d->have_lock?3:1;
@ -369,9 +369,9 @@ void SITL_State::_update_gps_mtk16(const struct gps_data *d)
p.longitude = d->longitude * 1.0e6; p.longitude = d->longitude * 1.0e6;
p.altitude = d->altitude * 100; p.altitude = d->altitude * 100;
p.ground_speed = pythagorous2(d->speedN, d->speedE) * 100; p.ground_speed = pythagorous2(d->speedN, d->speedE) * 100;
p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 100.0; p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 100.0f;
if (p.ground_course < 0.0) { if (p.ground_course < 0.0f) {
p.ground_course += 360.0 * 100.0; p.ground_course += 360.0f * 100.0f;
} }
p.satellites = d->have_lock?_sitl->gps_numsats:3; p.satellites = d->have_lock?_sitl->gps_numsats:3;
p.fix_type = d->have_lock?3:1; p.fix_type = d->have_lock?3:1;
@ -427,9 +427,9 @@ void SITL_State::_update_gps_mtk19(const struct gps_data *d)
p.longitude = d->longitude * 1.0e7; p.longitude = d->longitude * 1.0e7;
p.altitude = d->altitude * 100; p.altitude = d->altitude * 100;
p.ground_speed = pythagorous2(d->speedN, d->speedE) * 100; p.ground_speed = pythagorous2(d->speedN, d->speedE) * 100;
p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 100.0; p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 100.0f;
if (p.ground_course < 0.0) { if (p.ground_course < 0.0f) {
p.ground_course += 360.0 * 100.0; p.ground_course += 360.0f * 100.0f;
} }
p.satellites = d->have_lock?_sitl->gps_numsats:3; p.satellites = d->have_lock?_sitl->gps_numsats:3;
p.fix_type = d->have_lock?3:1; p.fix_type = d->have_lock?3:1;
@ -723,7 +723,7 @@ void SITL_State::_update_gps(double latitude, double longitude, float altitude,
if (_sitl->gps_drift_alt > 0) { if (_sitl->gps_drift_alt > 0) {
// slow altitude drift // slow altitude drift
d.altitude += _sitl->gps_drift_alt*sinf(hal.scheduler->millis()*0.001*0.02); d.altitude += _sitl->gps_drift_alt*sinf(hal.scheduler->millis()*0.001f*0.02f);
} }
d.speedN = speedN; d.speedN = speedN;

10
libraries/AP_HAL_AVR_SITL/sitl_ins.cpp
View File

@ -34,7 +34,7 @@ using namespace AVR_SITL;
*/ */
uint16_t SITL_State::_airspeed_sensor(float airspeed) uint16_t SITL_State::_airspeed_sensor(float airspeed)
{ {
const float airspeed_ratio = 1.9936; const float airspeed_ratio = 1.9936f;
const float airspeed_offset = 2013; const float airspeed_offset = 2013;
float airspeed_pressure, airspeed_raw; float airspeed_pressure, airspeed_raw;
@ -80,8 +80,8 @@ uint16_t SITL_State::_airspeed_sensor(float airspeed)
float SITL_State::_gyro_drift(void) float SITL_State::_gyro_drift(void)
{ {
if (_sitl->drift_speed == 0.0f || if (_sitl->drift_speed == 0.0f ||
_sitl->drift_time == 0.0f) { _sitl->drift_time == 0.0f) {
return 0; return 0;
} }
double period = _sitl->drift_time * 2; double period = _sitl->drift_time * 2;
@ -165,9 +165,9 @@ void SITL_State::_update_ins(float roll, float pitch, float yaw, // Relative
// minimum noise levels are 2 bits, but averaged over many // minimum noise levels are 2 bits, but averaged over many
// samples, giving around 0.01 m/s/s // samples, giving around 0.01 m/s/s
float accel_noise = 0.01; float accel_noise = 0.01f;
// minimum gyro noise is also less than 1 bit // minimum gyro noise is also less than 1 bit
float gyro_noise = ToRad(0.04); float gyro_noise = ToRad(0.04f);
if (_motors_on) { if (_motors_on) {
// add extra noise when the motors are on // add extra noise when the motors are on
accel_noise += _sitl->accel_noise; accel_noise += _sitl->accel_noise;