aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AC_AttitudeControl: replace fabs() with fabsf()

Browse Source
This commit is contained in:
Tom Pittenger 2015-05-08 11:41:27 -07:00 committed by Andrew Tridgell
parent eb2bfcd2d3
commit 70bef20a29
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
View File

@ -162,13 +162,13 @@ 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 ((float)fabs(roll_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
if (fabsf(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 ((float)fabs(pitch_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) {
if (fabsf(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{
@ -298,7 +298,7 @@ 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 ((float)fabs(yaw_out) > AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX) {
if (fabsf(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{