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Copter: compile warnings: float to double. print statements require doubles

This commit is contained in:
Tom Pittenger 2015-05-02 23:03:28 -07:00 committed by Andrew Tridgell
parent 896c86bcc6
commit c8bc44fc6e
5 changed files with 35 additions and 35 deletions
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4
ArduCopter/config.h
View File

@ -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
//////////////////////////////////////////////////////////////////////////////

4
ArduCopter/control_poshold.pde
View File

@ -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

2
ArduCopter/motors.pde
View File

@ -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"));
}

32
ArduCopter/setup.pde
View File

@ -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);

28
ArduCopter/test.pde
View File

@ -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) {