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SoloGimbal: resolve compiler warning re float comparison

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This commit is contained in:
Randy Mackay 2016-03-01 21:49:53 +09:00
parent 438769c8ae
commit e502e0fc2e
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_Mount/SoloGimbal.cpp
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@ -29,7 +29,7 @@ bool SoloGimbal::aligned()
gimbal_mode_t SoloGimbal::get_mode()
{
if ((_gimbalParams.initialized() && _gimbalParams.get_K_rate()==0.0f) || (_ahrs.get_rotation_body_to_ned().c.z < 0 && !(_lockedToBody || _calibrator.running()))) {
if ((_gimbalParams.initialized() && is_zero(_gimbalParams.get_K_rate())) || (_ahrs.get_rotation_body_to_ned().c.z < 0 && !(_lockedToBody || _calibrator.running()))) {
return GIMBAL_MODE_IDLE;
} else if (!_ekf.getStatus()) {
return GIMBAL_MODE_POS_HOLD;
@ -145,7 +145,7 @@ void SoloGimbal::send_controls(mavlink_channel_t chan)
// set GMB_MAX_TORQUE
float max_torque;
_gimbalParams.get_param(GMB_PARAM_GMB_MAX_TORQUE, max_torque, 0);
if (max_torque != _max_torque && max_torque != 0) {
if (!is_equal(max_torque,_max_torque) && !is_zero(max_torque)) {
_max_torque = max_torque;
}
@ -177,9 +177,9 @@ void SoloGimbal::extract_feedback(const mavlink_gimbal_report_t& report_msg)
_measurement.joint_angles -= _gimbalParams.get_joint_bias();
_measurement.delta_velocity -= _gimbalParams.get_accel_bias() * _measurement.delta_time;
Vector3f accel_gain = _gimbalParams.get_accel_gain();
_measurement.delta_velocity.x *= accel_gain.x == 0.0f ? 1.0f : accel_gain.x;
_measurement.delta_velocity.y *= accel_gain.y == 0.0f ? 1.0f : accel_gain.y;
_measurement.delta_velocity.z *= accel_gain.z == 0.0f ? 1.0f : accel_gain.z;
_measurement.delta_velocity.x *= (is_zero(accel_gain.x) ? 1.0f : accel_gain.x);
_measurement.delta_velocity.y *= (is_zero(accel_gain.y) ? 1.0f : accel_gain.y);
_measurement.delta_velocity.z *= (is_zero(accel_gain.z) ? 1.0f : accel_gain.z);
// update _ang_vel_mag_filt, used for accel sample readiness
Vector3f ang_vel = _measurement.delta_angles / _measurement.delta_time;