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AC_WPNav: fixed some build warnings

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This commit is contained in:
Andrew Tridgell 2013-12-11 10:21:41 +11:00
parent 28d98414e7
commit 30fffa5854
2 changed files with 8 additions and 8 deletions
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14
libraries/AC_WPNav/AC_WPNav.cpp
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@ -262,8 +262,8 @@ void AC_WPNav::update_loiter()
float dt = (now - _loiter_last_update) / 1000.0f;
// catch if we've just been started
if( dt >= 1.0 ) {
dt = 0.0;
if( dt >= 1.0f ) {
dt = 0.0f;
reset_I();
_loiter_step = 0;
}
@ -456,7 +456,7 @@ void AC_WPNav::advance_target_along_track(float dt)
// increase intermediate target point's velocity if not yet at target speed (we will limit it below)
if(dt > 0) {
if(track_desired_max > _track_desired) {
_limited_speed_xy_cms += 2.0 * _track_accel * dt;
_limited_speed_xy_cms += 2.0f * _track_accel * dt;
}else{
// do nothing, velocity stays constant
_track_desired = track_desired_max;
@ -520,7 +520,7 @@ void AC_WPNav::update_wpnav()
float dt = (now - _wpnav_last_update) / 1000.0f;
// catch if we've just been started
if( dt >= 1.0 ) {
if( dt >= 1.0f ) {
dt = 0.0;
reset_I();
_wpnav_step = 0;
@ -624,7 +624,7 @@ void AC_WPNav::get_loiter_velocity_to_acceleration(float vel_lat, float vel_lon,
float accel_total; // total acceleration in cm/s/s
// reset last velocity if this controller has just been engaged or dt is zero
if( dt == 0.0 ) {
if( dt == 0.0f ) {
desired_accel.x = 0;
desired_accel.y = 0;
} else {
@ -668,8 +668,8 @@ void AC_WPNav::get_loiter_acceleration_to_lean_angles(float accel_lat, float acc
accel_right = -accel_lat*_sin_yaw + accel_lon*_cos_yaw;
// update angle targets that will be passed to stabilize controller
_desired_roll = constrain_float(fast_atan(accel_right*_cos_pitch/(-z_accel_meas))*(18000/M_PI), -_lean_angle_max_cd, _lean_angle_max_cd);
_desired_pitch = constrain_float(fast_atan(-accel_forward/(-z_accel_meas))*(18000/M_PI), -_lean_angle_max_cd, _lean_angle_max_cd);
_desired_roll = constrain_float(fast_atan(accel_right*_cos_pitch/(-z_accel_meas))*(18000/M_PI_F), -_lean_angle_max_cd, _lean_angle_max_cd);
_desired_pitch = constrain_float(fast_atan(-accel_forward/(-z_accel_meas))*(18000/M_PI_F), -_lean_angle_max_cd, _lean_angle_max_cd);
}
// get_bearing_cd - return bearing in centi-degrees between two positions

2
libraries/AC_WPNav/AC_WPNav.h
View File

@ -123,7 +123,7 @@ public:
}
/// set_althold_kP - pass in alt hold controller's P gain
void set_althold_kP(float kP) { if(kP>0.0) _althold_kP = kP; }
void set_althold_kP(float kP) { if(kP>0.0f) _althold_kP = kP; }
/// set_horizontal_velocity - allows main code to pass target horizontal velocity for wp navigation
void set_horizontal_velocity(float velocity_cms) { _wp_speed_cms = velocity_cms; };