diff --git a/ArduCopter/config.h b/ArduCopter/config.h index db8a5b01fa..4346b4ac38 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -156,7 +156,7 @@ #endif #ifndef SONAR_GAIN_DEFAULT - # define SONAR_GAIN_DEFAULT 0.8 // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction) + # define SONAR_GAIN_DEFAULT 0.8f // gain for controlling how quickly sonar range adjusts target altitude (lower means slower reaction) #endif #ifndef THR_SURFACE_TRACKING_VELZ_MAX @@ -287,7 +287,7 @@ // arming check's maximum acceptable vector difference between internal and external compass after vectors are normalized to field length of 1.0 #ifndef COMPASS_ACCEPTABLE_VECTOR_DIFF - #define COMPASS_ACCEPTABLE_VECTOR_DIFF 0.75 // pre arm compass check will fail if internal vs external compass direction differ by more than 45 degrees + #define COMPASS_ACCEPTABLE_VECTOR_DIFF 0.75f // pre arm compass check will fail if internal vs external compass direction differ by more than 45 degrees #endif ////////////////////////////////////////////////////////////////////////////// diff --git a/ArduCopter/control_poshold.pde b/ArduCopter/control_poshold.pde index cd97c0531a..fcff21140e 100644 --- a/ArduCopter/control_poshold.pde +++ b/ArduCopter/control_poshold.pde @@ -641,8 +641,8 @@ static void poshold_get_wind_comp_lean_angles(int16_t &roll_angle, int16_t &pitc poshold.wind_comp_timer = 0; // convert earth frame desired accelerations to body frame roll and pitch lean angles - roll_angle = (float)fast_atan((-poshold.wind_comp_ef.x*ahrs.sin_yaw() + poshold.wind_comp_ef.y*ahrs.cos_yaw())/981)*(18000/M_PI); - pitch_angle = (float)fast_atan(-(poshold.wind_comp_ef.x*ahrs.cos_yaw() + poshold.wind_comp_ef.y*ahrs.sin_yaw())/981)*(18000/M_PI); + roll_angle = (float)fast_atan((-poshold.wind_comp_ef.x*ahrs.sin_yaw() + poshold.wind_comp_ef.y*ahrs.cos_yaw())/981)*(18000/(float)M_PI); + pitch_angle = (float)fast_atan(-(poshold.wind_comp_ef.x*ahrs.cos_yaw() + poshold.wind_comp_ef.y*ahrs.sin_yaw())/981)*(18000/(float)M_PI); } // poshold_roll_controller_to_pilot_override - initialises transition from a controller submode (brake or loiter) to a pilot override on roll axis diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde index bdd26951d6..42d3590b3a 100644 --- a/ArduCopter/motors.pde +++ b/ArduCopter/motors.pde @@ -346,7 +346,7 @@ static bool pre_arm_checks(bool display_failure) // check for unreasonable mag field length float mag_field = compass.get_field().length(); - if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65 || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35) { + if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) { if (display_failure) { gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check mag field")); } diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde index b67615bf00..1529126284 100644 --- a/ArduCopter/setup.pde +++ b/ArduCopter/setup.pde @@ -431,12 +431,12 @@ print_accel_offsets_and_scaling(void) const Vector3f &accel_offsets = ins.get_accel_offsets(); const Vector3f &accel_scale = ins.get_accel_scale(); cliSerial->printf_P(PSTR("A_off: %4.2f, %4.2f, %4.2f\nA_scale: %4.2f, %4.2f, %4.2f\n"), - (float)accel_offsets.x, // Pitch - (float)accel_offsets.y, // Roll - (float)accel_offsets.z, // YAW - (float)accel_scale.x, // Pitch - (float)accel_scale.y, // Roll - (float)accel_scale.z); // YAW + (double)accel_offsets.x, // Pitch + (double)accel_offsets.y, // Roll + (double)accel_offsets.z, // YAW + (double)accel_scale.x, // Pitch + (double)accel_scale.y, // Roll + (double)accel_scale.z); // YAW } static void @@ -444,9 +444,9 @@ print_gyro_offsets(void) { const Vector3f &gyro_offsets = ins.get_gyro_offsets(); cliSerial->printf_P(PSTR("G_off: %4.2f, %4.2f, %4.2f\n"), - (float)gyro_offsets.x, - (float)gyro_offsets.y, - (float)gyro_offsets.z); + (double)gyro_offsets.x, + (double)gyro_offsets.y, + (double)gyro_offsets.z); } #endif // CLI_ENABLED @@ -461,7 +461,7 @@ static void report_compass() // mag declination cliSerial->printf_P(PSTR("Mag Dec: %4.4f\n"), - degrees(compass.get_declination())); + (double)degrees(compass.get_declination())); // mag offsets Vector3f offsets; @@ -470,9 +470,9 @@ static void report_compass() // mag offsets cliSerial->printf_P(PSTR("Mag%d off: %4.4f, %4.4f, %4.4f\n"), (int)i, - offsets.x, - offsets.y, - offsets.z); + (double)offsets.x, + (double)offsets.y, + (double)offsets.z); } // motor compensation @@ -491,9 +491,9 @@ static void report_compass() motor_compensation = compass.get_motor_compensation(i); cliSerial->printf_P(PSTR("\nComMot%d: %4.2f, %4.2f, %4.2f\n"), (int)i, - motor_compensation.x, - motor_compensation.y, - motor_compensation.z); + (double)motor_compensation.x, + (double)motor_compensation.y, + (double)motor_compensation.z); } } print_blanks(1); diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde index 0d1e1c081d..7daf561b0f 100644 --- a/ArduCopter/test.pde +++ b/ArduCopter/test.pde @@ -63,9 +63,9 @@ test_baro(uint8_t argc, const Menu::arg *argv) cliSerial->println_P(PSTR("not healthy")); } else { cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"), - baro_alt / 100.0, - barometer.get_pressure(), - barometer.get_temperature()); + (double)(baro_alt / 100.0f), + (double)barometer.get_pressure(), + (double)barometer.get_temperature()); } if(cliSerial->available() > 0) { return (0); @@ -138,12 +138,12 @@ test_compass(uint8_t argc, const Menu::arg *argv) const Vector3f &mag = compass.get_field(); cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"), (wrap_360_cd(ToDeg(heading) * 100)) /100, - mag.x, - mag.y, - mag.z, - mag_ofs.x, - mag_ofs.y, - mag_ofs.z); + (double)mag.x, + (double)mag.y, + (double)mag.z, + (double)mag_ofs.x, + (double)mag_ofs.y, + (double)mag_ofs.z); } else { cliSerial->println_P(PSTR("compass not healthy")); } @@ -185,9 +185,9 @@ test_ins(uint8_t argc, const Menu::arg *argv) float test = accel.length() / GRAVITY_MSS; cliSerial->printf_P(PSTR("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %7.4f \n"), - accel.x, accel.y, accel.z, - gyro.x, gyro.y, gyro.z, - test); + (double)accel.x, (double)accel.y, (double)accel.z, + (double)gyro.x, (double)gyro.y, (double)gyro.z, + (double)test); delay(40); if(cliSerial->available() > 0) { @@ -209,8 +209,8 @@ test_optflow(uint8_t argc, const Menu::arg *argv) optflow.update(); const Vector2f& flowRate = optflow.flowRate(); cliSerial->printf_P(PSTR("flowX : %7.4f\t flowY : %7.4f\t flow qual : %d\n"), - flowRate.x, - flowRate.y, + (double)flowRate.x, + (double)flowRate.y, (int)optflow.quality()); if(cliSerial->available() > 0) {