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Plane: revert AP_Math class change

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This commit is contained in:
Andrew Tridgell 2015-05-05 12:34:27 +10:00
parent d8146ff3f6
commit 8395b92309
4 changed files with 19 additions and 19 deletions
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6
ArduPlane/Attitude.pde
View File

@ -286,7 +286,7 @@ static void stabilize_acro(float speed_scaler)
/*
check for special roll handling near the pitch poles
*/
if (g.acro_locking && AP_Math::is_zero(roll_rate)) {
if (g.acro_locking && is_zero(roll_rate)) {
/*
we have no roll stick input, so we will enter "roll locked"
mode, and hold the roll we had when the stick was released
@ -313,7 +313,7 @@ static void stabilize_acro(float speed_scaler)
channel_roll->servo_out = rollController.get_rate_out(roll_rate, speed_scaler);
}
if (g.acro_locking && AP_Math::is_zero(pitch_rate)) {
if (g.acro_locking && is_zero(pitch_rate)) {
/*
user has zero pitch stick input, so we lock pitch at the
point they release the stick
@ -459,7 +459,7 @@ static void calc_nav_yaw_ground(void)
if (flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF) {
steer_rate = 0;
}
if (!AP_Math::is_zero(steer_rate)) {
if (!is_zero(steer_rate)) {
// pilot is giving rudder input
steer_state.locked_course = false;
} else if (!steer_state.locked_course) {

26
ArduPlane/GCS_Mavlink.pde
View File

@ -1049,7 +1049,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_PREFLIGHT_CALIBRATION:
in_calibration = true;
if (AP_Math::is_equal(packet.param1,1.0f)) {
if (is_equal(packet.param1,1.0f)) {
ins.init_gyro();
if (ins.gyro_calibrated_ok_all()) {
ahrs.reset_gyro_drift();
@ -1057,16 +1057,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} else {
result = MAV_RESULT_FAILED;
}
} else if (AP_Math::is_equal(packet.param3,1.0f)) {
} else if (is_equal(packet.param3,1.0f)) {
init_barometer();
if (airspeed.enabled()) {
zero_airspeed(false);
}
result = MAV_RESULT_ACCEPTED;
} else if (AP_Math::is_equal(packet.param4,1.0f)) {
} else if (is_equal(packet.param4,1.0f)) {
trim_radio();
result = MAV_RESULT_ACCEPTED;
} else if (AP_Math::is_equal(packet.param5,1.0f)) {
} else if (is_equal(packet.param5,1.0f)) {
float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(this);
if (g.skip_gyro_cal) {
@ -1089,12 +1089,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
if (AP_Math::is_equal(packet.param1,2.0f)) {
if (is_equal(packet.param1,2.0f)) {
// save first compass's offsets
compass.set_and_save_offsets(0, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
}
if (AP_Math::is_equal(packet.param1,5.0f)) {
if (is_equal(packet.param1,5.0f)) {
// save secondary compass's offsets
compass.set_and_save_offsets(1, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
@ -1102,14 +1102,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_COMPONENT_ARM_DISARM:
if (AP_Math::is_equal(packet.param1,1.0f)) {
if (is_equal(packet.param1,1.0f)) {
// run pre_arm_checks and arm_checks and display failures
if (arm_motors(AP_Arming::MAVLINK)) {
result = MAV_RESULT_ACCEPTED;
} else {
result = MAV_RESULT_FAILED;
}
} else if (AP_Math::is_zero(packet.param1)) {
} else if (is_zero(packet.param1)) {
if (disarm_motors()) {
result = MAV_RESULT_ACCEPTED;
} else {
@ -1170,9 +1170,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (AP_Math::is_equal(packet.param1,1.0f) || AP_Math::is_equal(packet.param1,3.0f)) {
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
// when packet.param1 == 3 we reboot to hold in bootloader
hal.scheduler->reboot(AP_Math::is_equal(packet.param1,3.0f));
hal.scheduler->reboot(is_equal(packet.param1,3.0f));
result = MAV_RESULT_ACCEPTED;
}
break;
@ -1227,7 +1227,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (AP_Math::is_equal(packet.param1,1.0f)) {
if (is_equal(packet.param1,1.0f)) {
gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
result = MAV_RESULT_ACCEPTED;
}
@ -1239,10 +1239,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// param6 : longitude
// param7 : altitude (absolute)
result = MAV_RESULT_FAILED; // assume failure
if (AP_Math::is_equal(packet.param1,1.0f)) {
if (is_equal(packet.param1,1.0f)) {
init_home();
} else {
if (AP_Math::is_zero(packet.param5) && AP_Math::is_zero(packet.param6) && AP_Math::is_zero(packet.param7)) {
if (is_zero(packet.param5) && is_zero(packet.param6) && is_zero(packet.param7)) {
// don't allow the 0,0 position
break;
}

2
ArduPlane/navigation.pde
View File

@ -182,7 +182,7 @@ static void update_fbwb_speed_height(void)
change_target_altitude(g.flybywire_climb_rate * elevator_input * delta_us_fast_loop * 0.0001f);
if (AP_Math::is_zero(elevator_input) && !AP_Math::is_zero(last_elevator_input)) {
if (is_zero(elevator_input) && !is_zero(last_elevator_input)) {
// the user has just released the elevator, lock in
// the current altitude
set_target_altitude_current();

4
ArduPlane/takeoff.pde
View File

@ -37,7 +37,7 @@ static bool auto_takeoff_check(void)
// Check for launch acceleration or timer started. NOTE: relies on TECS 50Hz processing
if (!launchTimerStarted &&
!AP_Math::is_zero(g.takeoff_throttle_min_accel) &&
!is_zero(g.takeoff_throttle_min_accel) &&
SpdHgt_Controller->get_VXdot() < g.takeoff_throttle_min_accel) {
goto no_launch;
}
@ -65,7 +65,7 @@ static bool auto_takeoff_check(void)
}
// Check ground speed and time delay
if (((gps.ground_speed() > g.takeoff_throttle_min_speed || AP_Math::is_zero(g.takeoff_throttle_min_speed))) &&
if (((gps.ground_speed() > g.takeoff_throttle_min_speed || is_zero(g.takeoff_throttle_min_speed))) &&
((now - last_tkoff_arm_time) >= wait_time_ms)) {
gcs_send_text_fmt(PSTR("Triggered AUTO, GPSspd = %.1f"), (double)gps.ground_speed());
launchTimerStarted = false;