From 6364e6d4c18bc322ab0982212f8b32eb85a90860 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 5 Apr 2019 07:57:45 +1100 Subject: [PATCH] AC_WPNav: stop casting poscontrol's roll/pitch/yaw to int32_t --- libraries/AC_WPNav/AC_Circle.h | 6 +++--- libraries/AC_WPNav/AC_Loiter.h | 4 ++-- libraries/AC_WPNav/AC_WPNav.h | 4 ++-- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/libraries/AC_WPNav/AC_Circle.h b/libraries/AC_WPNav/AC_Circle.h index 9c392ca183..7a73cb1e2d 100644 --- a/libraries/AC_WPNav/AC_Circle.h +++ b/libraries/AC_WPNav/AC_Circle.h @@ -47,9 +47,9 @@ public: void update(); /// get desired roll, pitch which should be fed into stabilize controllers - int32_t get_roll() const { return _pos_control.get_roll(); } - int32_t get_pitch() const { return _pos_control.get_pitch(); } - int32_t get_yaw() const { return _yaw; } + float get_roll() const { return _pos_control.get_roll(); } + float get_pitch() const { return _pos_control.get_pitch(); } + float get_yaw() const { return _yaw; } // get_closest_point_on_circle - returns closest point on the circle // circle's center should already have been set diff --git a/libraries/AC_WPNav/AC_Loiter.h b/libraries/AC_WPNav/AC_Loiter.h index 5209e69579..c3b57fc81b 100644 --- a/libraries/AC_WPNav/AC_Loiter.h +++ b/libraries/AC_WPNav/AC_Loiter.h @@ -54,8 +54,8 @@ public: void update(); /// get desired roll, pitch which should be fed into stabilize controllers - int32_t get_roll() const { return _pos_control.get_roll(); } - int32_t get_pitch() const { return _pos_control.get_pitch(); } + float get_roll() const { return _pos_control.get_roll(); } + float get_pitch() const { return _pos_control.get_pitch(); } static const struct AP_Param::GroupInfo var_info[]; diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h index b82cd9e445..742a6ca521 100644 --- a/libraries/AC_WPNav/AC_WPNav.h +++ b/libraries/AC_WPNav/AC_WPNav.h @@ -214,8 +214,8 @@ public: /// /// get desired roll, pitch which should be fed into stabilize controllers - int32_t get_roll() const { return _pos_control.get_roll(); } - int32_t get_pitch() const { return _pos_control.get_pitch(); } + float get_roll() const { return _pos_control.get_roll(); } + float get_pitch() const { return _pos_control.get_pitch(); } /// advance_wp_target_along_track - move target location along track from origin to destination bool advance_wp_target_along_track(float dt);