From 44fd72cb1fa044ede5cabd4568061d25108752f4 Mon Sep 17 00:00:00 2001 From: Tom Pittenger Date: Fri, 15 May 2015 08:53:29 -0700 Subject: [PATCH] Copter: compiler warning stuff float to double promotion via fabs instead of fabsf float to int via abs instead of fabsf --- ArduCopter/control_acro.pde | 2 +- ArduCopter/control_poshold.pde | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduCopter/control_acro.pde b/ArduCopter/control_acro.pde index 9a65b18c1f..fb67827074 100644 --- a/ArduCopter/control_acro.pde +++ b/ArduCopter/control_acro.pde @@ -132,7 +132,7 @@ static void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int rate_bf_request.x = constrain_float(rate_bf_request.x, -rate_limit, rate_limit); // Calculate rate limit to prevent change of rate through inverted - rate_limit = fabsf(fabs(rate_bf_request.y)-fabsf(rate_bf_level.y)); + rate_limit = fabsf(fabsf(rate_bf_request.y)-fabsf(rate_bf_level.y)); rate_bf_request.y += rate_bf_level.y; rate_bf_request.y = constrain_float(rate_bf_request.y, -rate_limit, rate_limit); diff --git a/ArduCopter/control_poshold.pde b/ArduCopter/control_poshold.pde index 53096698c2..826084a21a 100644 --- a/ArduCopter/control_poshold.pde +++ b/ArduCopter/control_poshold.pde @@ -216,7 +216,7 @@ static void poshold_run() poshold_update_pilot_lean_angle(poshold.pilot_roll, target_roll); // switch to BRAKE mode for next iteration if no pilot input - if (is_zero(target_roll) && (abs(poshold.pilot_roll) < 2 * g.poshold_brake_rate)) { + if (is_zero(target_roll) && (fabsf(poshold.pilot_roll) < 2 * g.poshold_brake_rate)) { // initialise BRAKE mode poshold.roll_mode = POSHOLD_BRAKE; // Set brake roll mode poshold.brake_roll = 0; // initialise braking angle to zero @@ -310,7 +310,7 @@ static void poshold_run() poshold_update_pilot_lean_angle(poshold.pilot_pitch, target_pitch); // switch to BRAKE mode for next iteration if no pilot input - if (is_zero(target_pitch) && (abs(poshold.pilot_pitch) < 2 * g.poshold_brake_rate)) { + if (is_zero(target_pitch) && (fabsf(poshold.pilot_pitch) < 2 * g.poshold_brake_rate)) { // initialise BRAKE mode poshold.pitch_mode = POSHOLD_BRAKE; // set brake pitch mode poshold.brake_pitch = 0; // initialise braking angle to zero @@ -527,7 +527,7 @@ static void poshold_run() static void poshold_update_pilot_lean_angle(float &lean_angle_filtered, float &lean_angle_raw) { // if raw input is large or reversing the vehicle's lean angle immediately set the fitlered angle to the new raw angle - if ((lean_angle_filtered > 0 && lean_angle_raw < 0) || (lean_angle_filtered < 0 && lean_angle_raw > 0) || (abs(lean_angle_raw) > POSHOLD_STICK_RELEASE_SMOOTH_ANGLE)) { + if ((lean_angle_filtered > 0 && lean_angle_raw < 0) || (lean_angle_filtered < 0 && lean_angle_raw > 0) || (fabsf(lean_angle_raw) > POSHOLD_STICK_RELEASE_SMOOTH_ANGLE)) { lean_angle_filtered = lean_angle_raw; } else { // lean_angle_raw must be pulling lean_angle_filtered towards zero, smooth the decrease