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Copter: avoid int32_t<->float conversions

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Peter Barker 2019-02-28 22:10:05 +11:00 committed by Peter Barker
parent 247a047177
commit e744df585c
2 changed files with 4 additions and 10 deletions
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2
ArduCopter/mode.h
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@ -450,7 +450,7 @@ protected:
bool start(void) override; bool start(void) override;
bool position_ok() override; bool position_ok() override;
float get_pilot_desired_climb_rate_cms(void) const override; float get_pilot_desired_climb_rate_cms(void) const override;
void get_pilot_desired_rp_yrate_cd(int32_t &roll_cd, int32_t &pitch_cd, int32_t &yaw_rate_cds) override; void get_pilot_desired_rp_yrate_cd(float &roll_cd, float &pitch_cd, float &yaw_rate_cds) override;
void init_z_limits() override; void init_z_limits() override;
void Log_Write_Event(enum at_event id) override; void Log_Write_Event(enum at_event id) override;
void log_pids() override; void log_pids() override;

12
ArduCopter/mode_autotune.cpp
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@ -61,7 +61,7 @@ void Copter::AutoTune::run()
copter.attitude_control->reset_rate_controller_I_terms(); copter.attitude_control->reset_rate_controller_I_terms();
copter.attitude_control->set_yaw_target_to_current_heading(); copter.attitude_control->set_yaw_target_to_current_heading();
int32_t target_roll, target_pitch, target_yaw_rate; float target_roll, target_pitch, target_yaw_rate;
get_pilot_desired_rp_yrate_cd(target_roll, target_pitch, target_yaw_rate); get_pilot_desired_rp_yrate_cd(target_roll, target_pitch, target_yaw_rate);
copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate); copter.attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
@ -90,17 +90,11 @@ float Copter::AutoTune::get_pilot_desired_climb_rate_cms(void) const
/* /*
get stick roll, pitch and yaw rate get stick roll, pitch and yaw rate
*/ */
void Copter::AutoTune::get_pilot_desired_rp_yrate_cd(int32_t &des_roll_cd, int32_t &des_pitch_cd, int32_t &yaw_rate_cds) void Copter::AutoTune::get_pilot_desired_rp_yrate_cd(float &des_roll_cd, float &des_pitch_cd, float &yaw_rate_cds)
{ {
// map from int32_t to float copter.mode_autotune.get_pilot_desired_lean_angles(des_roll_cd, des_pitch_cd, copter.aparm.angle_max,
float des_roll, des_pitch;
copter.mode_autotune.get_pilot_desired_lean_angles(des_roll, des_pitch, copter.aparm.angle_max,
copter.attitude_control->get_althold_lean_angle_max()); copter.attitude_control->get_althold_lean_angle_max());
yaw_rate_cds = copter.mode_autotune.get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in()); yaw_rate_cds = copter.mode_autotune.get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in());
des_roll_cd = des_roll;
des_pitch_cd = des_pitch;
} }
/* /*