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Plane: minor signed/type fixups

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Andrew Tridgell 2013-01-27 13:16:26 +11:00
parent 32d702e912
commit ebb7f27962
3 changed files with 6 additions and 6 deletions
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2
ArduPlane/ArduPlane.pde
View File

@ -501,7 +501,7 @@ static int32_t nav_pitch_cd;
uint32_t wp_distance;
// Distance between previous and next waypoint. Meters
static int32_t wp_totalDistance;
static uint32_t wp_totalDistance;
// event control state
enum event_type {

4
ArduPlane/commands_logic.pde
View File

@ -359,7 +359,7 @@ static bool verify_nav_wp()
{
hold_course = -1;
update_crosstrack();
if (wp_distance <= (unsigned)max(g.waypoint_radius,0)) {
if (wp_distance <= (uint32_t)max(g.waypoint_radius,0)) {
gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"),
(unsigned)nav_command_index,
(unsigned)get_distance(&current_loc, &next_WP));
@ -416,7 +416,7 @@ static bool verify_loiter_turns()
static bool verify_RTL()
{
if (wp_distance <= (unsigned)max(g.waypoint_radius,0)) {
if (wp_distance <= (uint32_t)max(g.waypoint_radius,0)) {
gcs_send_text_P(SEVERITY_LOW,PSTR("Reached home"));
return true;
}else{

6
ArduPlane/navigation.pde
View File

@ -148,11 +148,11 @@ static void update_loiter()
{
float power;
if(wp_distance <= (unsigned)max(g.loiter_radius,0)) {
if(wp_distance <= (uint32_t)max(g.loiter_radius,0)) {
power = float(wp_distance) / float(g.loiter_radius);
power = constrain(power, 0.5, 1);
nav_bearing_cd += 9000.0 * (2.0 + power);
} else if(wp_distance < (unsigned long)max((g.loiter_radius + LOITER_RANGE),0)) {
} else if(wp_distance < (uint32_t)max((g.loiter_radius + LOITER_RANGE),0)) {
power = -((float)(wp_distance - g.loiter_radius - LOITER_RANGE) / LOITER_RANGE);
power = constrain(power, 0.5, 1); //power = constrain(power, 0, 1);
nav_bearing_cd -= power * 9000;
@ -191,7 +191,7 @@ static void update_crosstrack(void)
// Crosstrack Error
// ----------------
// If we are too far off or too close we don't do track following
if (wp_totalDistance >= (unsigned)max(g.crosstrack_min_distance,0) &&
if (wp_totalDistance >= (uint32_t)max(g.crosstrack_min_distance,0) &&
abs(wrap_180_cd(target_bearing_cd - crosstrack_bearing_cd)) < 4500) {
// Meters we are off track line
crosstrack_error = sinf(radians((target_bearing_cd - crosstrack_bearing_cd) * 0.01)) * wp_distance;