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AP_TECS: fixed some warnings

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This commit is contained in:
Andrew Tridgell 2014-10-22 16:15:43 +11:00
parent 59610ebe88
commit b495905da5
1 changed files with 8 additions and 8 deletions
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16
libraries/AP_TECS/AP_TECS.cpp
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@ -197,7 +197,7 @@ void AP_TECS::update_50hz(float hgt_afe)
// Calculate time in seconds since last update
uint32_t now = hal.scheduler->micros();
float DT = max((now - _update_50hz_last_usec),0)*1.0e-6f;
if (DT > 1.0) {
if (DT > 1.0f) {
_integ3_state = hgt_afe;
_climb_rate = 0.0f;
_integ1_state = 0.0f;
@ -225,7 +225,7 @@ void AP_TECS::update_50hz(float hgt_afe)
float integ3_input = _climb_rate + hgt_err * _hgtCompFiltOmega * 3.0f;
// If more than 1 second has elapsed since last update then reset the integrator state
// to the measured height
if (DT > 1.0) {
if (DT > 1.0f) {
_integ3_state = hgt_afe;
} else {
_integ3_state = _integ3_state + integ3_input*DT;
@ -264,7 +264,7 @@ void AP_TECS::_update_speed(void)
}
// Reset states of time since last update is too large
if (DT > 1.0) {
if (DT > 1.0f) {
_integ5_state = (_EAS * EAS2TAS);
_integ4_state = 0.0f;
DT = 0.1f; // when first starting TECS, use a
@ -284,8 +284,8 @@ void AP_TECS::_update_speed(void)
float aspdErr = (_EAS * EAS2TAS) - _integ5_state;
float integ4_input = aspdErr * _spdCompFiltOmega * _spdCompFiltOmega;
// Prevent state from winding up
if (_integ5_state < 3.1){
integ4_input = max(integ4_input , 0.0);
if (_integ5_state < 3.1f){
integ4_input = max(integ4_input , 0.0f);
}
_integ4_state = _integ4_state + integ4_input * DT;
float integ5_input = _integ4_state + _vel_dot + aspdErr * _spdCompFiltOmega * 1.4142f;
@ -535,11 +535,11 @@ void AP_TECS::_update_throttle_option(int16_t throttle_nudge)
{
_throttle_dem = _THRmaxf;
}
else if (_pitch_dem > 0.0 && _PITCHmaxf > 0.0)
else if (_pitch_dem > 0.0f && _PITCHmaxf > 0.0f)
{
_throttle_dem = nomThr + (_THRmaxf - nomThr) * _pitch_dem / _PITCHmaxf;
}
else if (_pitch_dem < 0.0 && _PITCHminf < 0.0)
else if (_pitch_dem < 0.0f && _PITCHminf < 0.0f)
{
_throttle_dem = nomThr + (_THRminf - nomThr) * _pitch_dem / _PITCHminf;
}
@ -660,7 +660,7 @@ void AP_TECS::_update_pitch(void)
void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
{
// Initialise states and variables if DT > 1 second or in climbout
if (_DT > 1.0)
if (_DT > 1.0f)
{
_integ6_state = 0.0f;
_integ7_state = 0.0f;