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AP_Mount: compiler warnings: apply is_zero(float) or is_equal(float)

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This commit is contained in:
Tom Pittenger 2015-05-02 02:27:06 -07:00 committed by Andrew Tridgell
parent 20dc48ed16
commit 4ac1f8a2fa
2 changed files with 4 additions and 3 deletions
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3
libraries/AP_Mount/AP_Gimbal.cpp
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@ -8,12 +8,13 @@
#include <AP_Common.h>
#include <GCS.h>
#include <AP_SmallEKF.h>
#include "AP_Math.h"
void AP_Gimbal::receive_feedback(mavlink_channel_t chan, mavlink_message_t *msg)
{
decode_feedback(msg);
update_state();
if (_ekf.getStatus() && !isCopterFlipped() && _gimbalParams.K_gimbalRate!=0.0f){
if (_ekf.getStatus() && !isCopterFlipped() && !AP_Math::is_zero(_gimbalParams.K_gimbalRate)){
send_control(chan);
}

4
libraries/AP_Mount/AP_Mount_Servo.cpp
View File

@ -154,13 +154,13 @@ void AP_Mount_Servo::stabilize()
// lead filter
const Vector3f &gyro = _frontend._ahrs.get_gyro();
if (_state._stab_roll && _state._roll_stb_lead != 0.0f && fabsf(_frontend._ahrs.pitch) < M_PI/3.0f) {
if (_state._stab_roll && !AP_Math::is_zero(_state._roll_stb_lead) && fabsf(_frontend._ahrs.pitch) < (float)M_PI/3.0f) {
// Compute rate of change of euler roll angle
float roll_rate = gyro.x + (_frontend._ahrs.sin_pitch() / _frontend._ahrs.cos_pitch()) * (gyro.y * _frontend._ahrs.sin_roll() + gyro.z * _frontend._ahrs.cos_roll());
_angle_bf_output_deg.x -= degrees(roll_rate) * _state._roll_stb_lead;
}
if (_state._stab_tilt && _state._pitch_stb_lead != 0.0f) {
if (_state._stab_tilt && !AP_Math::is_zero(_state._pitch_stb_lead)) {
// Compute rate of change of euler pitch angle
float pitch_rate = _frontend._ahrs.cos_pitch() * gyro.y - _frontend._ahrs.sin_roll() * gyro.z;
_angle_bf_output_deg.y -= degrees(pitch_rate) * _state._pitch_stb_lead;