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AC_AttControlHeli: cast fabs to float to resolve compiler warning

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This commit is contained in:
Randy Mackay 2014-07-14 23:21:15 +09:00 committed by unknown
parent 1f2e38ed28
commit 5128991a84
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -146,13 +146,13 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target
pitch_out = pitch_pd + pitch_i + pitch_ff;
// constrain output and update limit flags
if (fabs(roll_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
if ((float)fabs(roll_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
roll_out = constrain_float(roll_out,-AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX);
_flags_heli.limit_roll = true;
}else{
_flags_heli.limit_roll = false;
}
if (fabs(pitch_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
if ((float)fabs(pitch_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
pitch_out = constrain_float(pitch_out,-AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX);
_flags_heli.limit_pitch = true;
}else{
@ -277,7 +277,7 @@ float AC_AttitudeControl_Heli::rate_bf_to_motor_yaw(float rate_target_cds)
yaw_out = pd + i + ff;
// constrain output and update limit flag
if (fabs(yaw_out) > AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX) {
if ((float)fabs(yaw_out) > AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX) {
yaw_out = constrain_float(yaw_out,-AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX);
_flags_heli.limit_yaw = true;
}else{