diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde index dc8a768f69..170800960d 100644 --- a/ArduPlane/ArduPlane.pde +++ b/ArduPlane/ArduPlane.pde @@ -396,7 +396,7 @@ static struct { // This is used to scale GPS values for EEPROM storage // 10^7 times Decimal GPS means 1 == 1cm // This approximation makes calculations integer and it's easy to read -static const float t7 = 10000000.0; +static const float t7 = 10000000.0f; // We use atan2 and other trig techniques to calaculate angles // A counter used to count down valid gps fixes to allow the gps estimate to settle // before recording our home position (and executing a ground start if we booted with an air start) diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde index d352cc6226..668de060e7 100644 --- a/ArduPlane/Attitude.pde +++ b/ArduPlane/Attitude.pde @@ -22,7 +22,7 @@ static float get_speed_scaler(void) } else { speed_scaler = 2.0; } - speed_scaler = constrain_float(speed_scaler, 0.5, 2.0); + speed_scaler = constrain_float(speed_scaler, 0.5f, 2.0f); } else { if (channel_throttle->servo_out > 0) { speed_scaler = 0.5f + ((float)THROTTLE_CRUISE / channel_throttle->servo_out / 2.0f); // First order taylor expansion of square root @@ -31,7 +31,7 @@ static float get_speed_scaler(void) speed_scaler = 1.67f; } // This case is constrained tighter as we don't have real speed info - speed_scaler = constrain_float(speed_scaler, 0.6, 1.67); + speed_scaler = constrain_float(speed_scaler, 0.6f, 1.67f); } return speed_scaler; } @@ -588,7 +588,7 @@ static bool suppress_throttle(void) // we're more than 10m from the home altitude throttle_suppressed = false; gcs_send_text_fmt(PSTR("Throttle unsuppressed - altitude %.2f"), - relative_altitude_abs_cm()*0.01f); + (float)(relative_altitude_abs_cm()*0.01f)); return false; } diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde index cf158aad98..74522fc93f 100644 --- a/ArduPlane/GCS_Mavlink.pde +++ b/ArduPlane/GCS_Mavlink.pde @@ -109,7 +109,7 @@ static NOINLINE void send_attitude(mavlink_channel_t chan) chan, millis(), ahrs.roll, - ahrs.pitch - radians(g.pitch_trim_cd*0.01), + ahrs.pitch - radians(g.pitch_trim_cd*0.01f), ahrs.yaw, omega.x, omega.y, @@ -341,12 +341,12 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan) { mavlink_msg_nav_controller_output_send( chan, - nav_roll_cd * 0.01, - nav_pitch_cd * 0.01, + nav_roll_cd * 0.01f, + nav_pitch_cd * 0.01f, nav_controller->nav_bearing_cd() * 0.01f, nav_controller->target_bearing_cd() * 0.01f, auto_state.wp_distance, - altitude_error_cm * 0.01, + altitude_error_cm * 0.01f, airspeed_error_cm, nav_controller->crosstrack_error()); } @@ -417,7 +417,7 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan) gps.ground_speed(), (ahrs.yaw_sensor / 100) % 360, throttle_percentage(), - current_loc.alt / 100.0, + current_loc.alt / 100.0f, barometer.get_climb_rate()); } diff --git a/ArduPlane/Log.pde b/ArduPlane/Log.pde index eacc287161..c50c520c3a 100644 --- a/ArduPlane/Log.pde +++ b/ArduPlane/Log.pde @@ -500,7 +500,6 @@ static void Log_Write_Performance() {} static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {} static void Log_Write_Attitude() {} static void Log_Write_Control_Tuning() {} -static void Log_Write_Mode(uint8_t mode) {} static void Log_Write_GPS(uint8_t instance) {} static void Log_Write_IMU() {} static void Log_Write_RC() {} diff --git a/ArduPlane/altitude.pde b/ArduPlane/altitude.pde index 3c545af28d..ffd203904d 100644 --- a/ArduPlane/altitude.pde +++ b/ArduPlane/altitude.pde @@ -442,7 +442,7 @@ static float height_above_target(void) { float target_alt = next_WP_loc.alt*0.01; if (!next_WP_loc.flags.relative_alt) { - target_alt -= ahrs.get_home().alt*0.01; + target_alt -= ahrs.get_home().alt*0.01f; } #if AP_TERRAIN_AVAILABLE diff --git a/ArduPlane/commands_logic.pde b/ArduPlane/commands_logic.pde index 94e31b548e..aa4915dad8 100644 --- a/ArduPlane/commands_logic.pde +++ b/ArduPlane/commands_logic.pde @@ -386,7 +386,7 @@ static bool verify_takeoff() // course. This keeps wings level until we are ready to // rotate, and also allows us to cope with arbitary // compass errors for auto takeoff - float takeoff_course = wrap_PI(radians(gps.ground_course_cd()*0.01)) - steer_state.locked_course_err; + float takeoff_course = wrap_PI(radians(gps.ground_course_cd()*0.01f)) - steer_state.locked_course_err; takeoff_course = wrap_PI(takeoff_course); steer_state.hold_course_cd = wrap_360_cd(degrees(takeoff_course)*100); gcs_send_text_fmt(PSTR("Holding course %ld at %.1fm/s (%.1f)"), @@ -531,10 +531,10 @@ static bool verify_continue_and_change_alt() } // Is the next_WP less than 200 m away? - if (get_distance(current_loc, next_WP_loc) < 200.f) { + if (get_distance(current_loc, next_WP_loc) < 200.0f) { //push another 300 m down the line int32_t next_wp_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc); - location_update(next_WP_loc, next_wp_bearing_cd * 0.01f, 300.f); + location_update(next_WP_loc, next_wp_bearing_cd * 0.01f, 300.0f); } //keep flying the same course diff --git a/ArduPlane/config.h b/ArduPlane/config.h index c435b80015..2267e68df6 100644 --- a/ArduPlane/config.h +++ b/ArduPlane/config.h @@ -323,7 +323,7 @@ #define PITCH_MIN_CENTIDEGREE PITCH_MIN * 100 #ifndef RUDDER_MIX - # define RUDDER_MIX 0.5 + # define RUDDER_MIX 0.5f #endif diff --git a/ArduPlane/geofence.pde b/ArduPlane/geofence.pde index 6a25549978..1567d8b74f 100644 --- a/ArduPlane/geofence.pde +++ b/ArduPlane/geofence.pde @@ -237,7 +237,7 @@ static bool geofence_check_minalt(void) if (g.fence_minalt == 0) { return false; } - return (adjusted_altitude_cm() < (g.fence_minalt*100.0) + home.alt); + return (adjusted_altitude_cm() < (g.fence_minalt*100.0f) + home.alt); } /* @@ -251,7 +251,7 @@ static bool geofence_check_maxalt(void) if (g.fence_maxalt == 0) { return false; } - return (adjusted_altitude_cm() > (g.fence_maxalt*100.0) + home.alt); + return (adjusted_altitude_cm() > (g.fence_maxalt*100.0f) + home.alt); } @@ -361,14 +361,14 @@ static void geofence_check(bool altitude_check_only) } else { //return to fence return point, not a rally point if (g.fence_retalt > 0) { //fly to the return point using fence_retalt - guided_WP_loc.alt = home.alt + 100.0*g.fence_retalt; + guided_WP_loc.alt = home.alt + 100.0f*g.fence_retalt; } else if (g.fence_minalt >= g.fence_maxalt) { // invalid min/max, use RTL_altitude guided_WP_loc.alt = home.alt + g.RTL_altitude_cm; } else { // fly to the return point, with an altitude half way between // min and max - guided_WP_loc.alt = home.alt + 100.0*(g.fence_minalt + g.fence_maxalt)/2; + guided_WP_loc.alt = home.alt + 100.0f*(g.fence_minalt + g.fence_maxalt)/2; } guided_WP_loc.options = 0; guided_WP_loc.lat = geofence_state->boundary[0].x; diff --git a/ArduPlane/takeoff.pde b/ArduPlane/takeoff.pde index 3dc227fa37..2baf8632f4 100644 --- a/ArduPlane/takeoff.pde +++ b/ArduPlane/takeoff.pde @@ -37,7 +37,7 @@ static bool auto_takeoff_check(void) // Check for launch acceleration or timer started. NOTE: relies on TECS 50Hz processing if (!launchTimerStarted && - g.takeoff_throttle_min_accel != 0.0 && + g.takeoff_throttle_min_accel != 0.0f && SpdHgt_Controller->get_VXdot() < g.takeoff_throttle_min_accel) { goto no_launch; } @@ -65,7 +65,7 @@ static bool auto_takeoff_check(void) } // Check ground speed and time delay - if (((gps.ground_speed() > g.takeoff_throttle_min_speed || g.takeoff_throttle_min_speed == 0.0)) && + if (((gps.ground_speed() > g.takeoff_throttle_min_speed || g.takeoff_throttle_min_speed == 0.0f)) && ((now - last_tkoff_arm_time) >= wait_time_ms)) { gcs_send_text_fmt(PSTR("Triggered AUTO, GPSspd = %.1f"), gps.ground_speed()); launchTimerStarted = false;