Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: make surface tracking adjust_climb_rate take a float 

Its callers all pass in floats and we return a float, so stop going via
an int16_t
This commit is contained in:
Peter Barker 2019-04-20 12:01:26 +10:00 committed by Randy Mackay
parent b0428f0fe8
commit c0e8d319c6
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/Attitude.cpp
View File

@ -122,7 +122,7 @@ float Copter::get_non_takeoff_throttle()
// adjust_climb_rate - hold copter at the desired distance above the
// ground; returns climb rate (in cm/s) which should be passed to
// the position controller
float Copter::SurfaceTracking::adjust_climb_rate(int16_t target_rate)
float Copter::SurfaceTracking::adjust_climb_rate(float target_rate)
{
#if RANGEFINDER_ENABLED == ENABLED
if (!copter.rangefinder_alt_ok()) {
@ -184,7 +184,7 @@ float Copter::SurfaceTracking::adjust_climb_rate(int16_t target_rate)
// return combined pilot climb rate + rate to correct rangefinder alt error
return (target_rate + velocity_correction);
#else
return (float)target_rate;
return target_rate;
#endif
}

2
ArduCopter/Copter.h
View File

@ -289,7 +289,7 @@ private:
class SurfaceTracking {
public:
float adjust_climb_rate(int16_t target_rate);
float adjust_climb_rate(float target_rate);
bool get_target_alt_cm(float &target_alt_cm) const;
void set_target_alt_cm(float target_alt_cm);
float logging_target_alt() const {