AC_AttitudeControl: Change from sqrt to safe_sqrt
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998dd7207f
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6db54bd65e
@ -43,11 +43,11 @@ void AC_AttitudeControl::control_monitor_log(void)
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{
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DataFlash_Class::instance()->Log_Write("CTRL", "TimeUS,RMSRollP,RMSRollD,RMSPitchP,RMSPitchD,RMSYaw", "Qfffff",
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AP_HAL::micros64(),
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(double)sqrtf(_control_monitor.rms_roll_P),
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(double)sqrtf(_control_monitor.rms_roll_D),
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(double)sqrtf(_control_monitor.rms_pitch_P),
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(double)sqrtf(_control_monitor.rms_pitch_D),
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(double)sqrtf(_control_monitor.rms_yaw));
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(double)safe_sqrt(_control_monitor.rms_roll_P),
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(double)safe_sqrt(_control_monitor.rms_roll_D),
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(double)safe_sqrt(_control_monitor.rms_pitch_P),
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(double)safe_sqrt(_control_monitor.rms_pitch_D),
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(double)safe_sqrt(_control_monitor.rms_yaw));
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}
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@ -56,7 +56,7 @@ void AC_AttitudeControl::control_monitor_log(void)
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*/
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float AC_AttitudeControl::control_monitor_rms_output_roll(void) const
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{
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return sqrtf(_control_monitor.rms_roll_P + _control_monitor.rms_roll_D);
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return safe_sqrt(_control_monitor.rms_roll_P + _control_monitor.rms_roll_D);
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}
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/*
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@ -64,7 +64,7 @@ float AC_AttitudeControl::control_monitor_rms_output_roll(void) const
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*/
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float AC_AttitudeControl::control_monitor_rms_output_roll_P(void) const
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{
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return sqrtf(_control_monitor.rms_roll_P);
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return safe_sqrt(_control_monitor.rms_roll_P);
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}
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/*
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@ -72,7 +72,7 @@ float AC_AttitudeControl::control_monitor_rms_output_roll_P(void) const
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*/
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float AC_AttitudeControl::control_monitor_rms_output_roll_D(void) const
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{
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return sqrtf(_control_monitor.rms_roll_D);
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return safe_sqrt(_control_monitor.rms_roll_D);
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}
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/*
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@ -80,7 +80,7 @@ float AC_AttitudeControl::control_monitor_rms_output_roll_D(void) const
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*/
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float AC_AttitudeControl::control_monitor_rms_output_pitch(void) const
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{
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return sqrtf(_control_monitor.rms_pitch_P + _control_monitor.rms_pitch_D);
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return safe_sqrt(_control_monitor.rms_pitch_P + _control_monitor.rms_pitch_D);
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}
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/*
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@ -88,7 +88,7 @@ float AC_AttitudeControl::control_monitor_rms_output_pitch(void) const
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*/
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float AC_AttitudeControl::control_monitor_rms_output_pitch_P(void) const
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{
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return sqrtf(_control_monitor.rms_pitch_P);
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return safe_sqrt(_control_monitor.rms_pitch_P);
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}
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/*
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@ -96,7 +96,7 @@ float AC_AttitudeControl::control_monitor_rms_output_pitch_P(void) const
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*/
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float AC_AttitudeControl::control_monitor_rms_output_pitch_D(void) const
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{
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return sqrtf(_control_monitor.rms_pitch_D);
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return safe_sqrt(_control_monitor.rms_pitch_D);
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}
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/*
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@ -104,5 +104,5 @@ float AC_AttitudeControl::control_monitor_rms_output_pitch_D(void) const
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*/
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float AC_AttitudeControl::control_monitor_rms_output_yaw(void) const
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{
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return sqrtf(_control_monitor.rms_yaw);
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return safe_sqrt(_control_monitor.rms_yaw);
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}
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