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Plane: avoid some float conversion warnings

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This commit is contained in:
Andrew Tridgell 2014-07-08 20:26:07 +10:00
parent baa0217bec
commit 3390224491
3 changed files with 17 additions and 17 deletions
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10
ArduPlane/Attitude.pde
View File

@ -126,8 +126,8 @@ static void stick_mix_channel(RC_Channel *channel, int16_t &servo_out)
ch_inf = (float)channel->radio_in - (float)channel->radio_trim;
ch_inf = fabsf(ch_inf);
ch_inf = min(ch_inf, 400.0);
ch_inf = ((400.0 - ch_inf) / 400.0);
ch_inf = min(ch_inf, 400.0f);
ch_inf = ((400.0f - ch_inf) / 400.0f);
servo_out *= ch_inf;
servo_out += channel->pwm_to_angle();
}
@ -356,7 +356,7 @@ static void stabilize()
*/
if (channel_throttle->control_in == 0 &&
relative_altitude_abs_cm() < 500 &&
fabs(barometer.get_climb_rate()) < 0.5f &&
fabsf(barometer.get_climb_rate()) < 0.5f &&
gps.ground_speed() < 3) {
// we are low, with no climb rate, and zero throttle, and very
// low ground speed. Zero the attitude controller
@ -747,8 +747,8 @@ static void set_servos(void)
}
// directly set the radio_out values for elevon mode
channel_roll->radio_out = elevon.trim1 + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0/ SERVO_MAX));
channel_pitch->radio_out = elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
channel_roll->radio_out = elevon.trim1 + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0f/ SERVO_MAX));
channel_pitch->radio_out = elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0f/ SERVO_MAX));
}
// push out the PWM values

20
ArduPlane/GCS_Mavlink.pde
View File

@ -277,7 +277,7 @@ static void NOINLINE send_location(mavlink_channel_t chan)
current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees
gps.location().alt * 10UL, // millimeters above sea level
relative_altitude() * 1.0e3, // millimeters above ground
relative_altitude() * 1.0e3f, // millimeters above ground
vel.x * 100, // X speed cm/s (+ve North)
vel.y * 100, // Y speed cm/s (+ve East)
vel.z * -100, // Z speed cm/s (+ve up)
@ -384,12 +384,12 @@ static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
mavlink_msg_raw_imu_send(
chan,
micros(),
accel.x * 1000.0 / GRAVITY_MSS,
accel.y * 1000.0 / GRAVITY_MSS,
accel.z * 1000.0 / GRAVITY_MSS,
gyro.x * 1000.0,
gyro.y * 1000.0,
gyro.z * 1000.0,
accel.x * 1000.0f / GRAVITY_MSS,
accel.y * 1000.0f / GRAVITY_MSS,
accel.z * 1000.0f / GRAVITY_MSS,
gyro.x * 1000.0f,
gyro.y * 1000.0f,
gyro.z * 1000.0f,
mag.x,
mag.y,
mag.z);
@ -826,7 +826,7 @@ bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
// parameter sends
if ((stream_num != STREAM_PARAMS) &&
(waypoint_receiving || _queued_parameter != NULL)) {
rate *= 0.25;
rate *= 0.25f;
}
if (rate <= 0) {
@ -1299,8 +1299,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
send_text_P(SEVERITY_LOW,PSTR("bad fence point"));
} else {
Vector2l point;
point.x = packet.lat*1.0e7;
point.y = packet.lng*1.0e7;
point.x = packet.lat*1.0e7f;
point.y = packet.lng*1.0e7f;
set_fence_point_with_index(point, packet.idx);
}
break;

4
ArduPlane/Log.pde
View File

@ -393,8 +393,8 @@ static void Log_Write_Current()
LOG_PACKET_HEADER_INIT(LOG_CURRENT_MSG),
time_ms : hal.scheduler->millis(),
throttle_in : channel_throttle->control_in,
battery_voltage : (int16_t)(battery.voltage() * 100.0),
current_amps : (int16_t)(battery.current_amps() * 100.0),
battery_voltage : (int16_t)(battery.voltage() * 100.0f),
current_amps : (int16_t)(battery.current_amps() * 100.0f),
board_voltage : (uint16_t)(hal.analogin->board_voltage()*1000),
current_total : battery.current_total_mah()
};