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AC_InputManager: add f for float constants

This commit is contained in:
Leonard Hall 2016-01-04 13:06:27 +09:00 committed by Randy Mackay
parent c64a505906
commit d312e52aee
1 changed files with 6 additions and 6 deletions
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12
libraries/AC_InputManager/AC_InputManager_Heli.cpp
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@ -93,29 +93,29 @@ int16_t AC_InputManager_Heli::get_pilot_desired_collective(int16_t control_in)
_acro_col_expo = 1.0f;
}
if (_acro_col_expo <= 0) {
if (_acro_col_expo <= 0.0f) {
acro_col_out = control_in;
} else {
// expo variables
float col_in, col_in3, col_out;
col_in = (float)(control_in-500)/500.0f;
col_in3 = col_in*col_in*col_in;
col_out = (_acro_col_expo * col_in3) + ((1-_acro_col_expo)*col_in);
col_out = (_acro_col_expo * col_in3) + ((1.0f-_acro_col_expo)*col_in);
acro_col_out = 500 + col_out*500;
}
acro_col_out = constrain_int16(acro_col_out, 0, 1000);
// ramp to and from stab col over 1/2 second
if (_im_flags_heli.use_stab_col && (_stab_col_ramp < 1.0)){
if (_im_flags_heli.use_stab_col && (_stab_col_ramp < 1.0f)){
_stab_col_ramp += 2.0f/(float)_loop_rate;
} else if(!_im_flags_heli.use_stab_col && (_stab_col_ramp > 0.0)){
} else if(!_im_flags_heli.use_stab_col && (_stab_col_ramp > 0.0f)){
_stab_col_ramp -= 2.0f/(float)_loop_rate;
}
_stab_col_ramp = constrain_float(_stab_col_ramp, 0.0, 1.0);
_stab_col_ramp = constrain_float(_stab_col_ramp, 0.0f, 1.0f);
// scale collective output smoothly between acro and stab col
int16_t collective_out;
collective_out = (float)((1.0-_stab_col_ramp)*acro_col_out + _stab_col_ramp*stab_col_out);
collective_out = (float)((1.0f-_stab_col_ramp)*acro_col_out + _stab_col_ramp*stab_col_out);
collective_out = constrain_int16(collective_out, 0, 1000);
return collective_out;