dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Fix implicit float to double conversions 

The both results of ?: should be of same type, and some compilers give error
on this:
	" implicit conversion from 'float' to 'double' to match other result of conditional"

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen 2021-04-30 09:42:05 +03:00 committed by Lorenz Meier
parent 62dc926891
commit 532f370e7d
4 changed files with 30 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
View File

@ -271,7 +271,7 @@ bool FlightTaskAuto::_evaluateTriplets()
_obstacle_avoidance.updateAvoidanceDesiredWaypoints(_triplet_target, _yaw_setpoint, _yawspeed_setpoint,
_triplet_next_wp,
_sub_triplet_setpoint.get().next.yaw,
_sub_triplet_setpoint.get().next.yawspeed_valid ? _sub_triplet_setpoint.get().next.yawspeed : NAN,
_sub_triplet_setpoint.get().next.yawspeed_valid ? _sub_triplet_setpoint.get().next.yawspeed : (float)NAN,
_ext_yaw_handler != nullptr && _ext_yaw_handler->is_active(), _sub_triplet_setpoint.get().current.type);
_obstacle_avoidance.checkAvoidanceProgress(_position, _triplet_prev_wp, _target_acceptance_radius, _closest_pt);
}

2
src/modules/land_detector/LandDetector.cpp
View File

@ -122,7 +122,7 @@ void LandDetector::Run()
const bool ground_contactDetected = _ground_contact_hysteresis.get_state();
const bool maybe_landedDetected = _maybe_landed_hysteresis.get_state();
const bool landDetected = _landed_hysteresis.get_state();
const float alt_max = _get_max_altitude() > 0.0f ? _get_max_altitude() : INFINITY;
const float alt_max = _get_max_altitude() > 0.0f ? _get_max_altitude() : (float)INFINITY;
const bool in_ground_effect = _ground_effect_hysteresis.get_state();
// publish at 1 Hz, very first time, or when the result has changed

51
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -855,17 +855,17 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
const uint16_t type_mask = target_local_ned.type_mask;
if (target_local_ned.coordinate_frame == MAV_FRAME_LOCAL_NED) {
setpoint.x = (type_mask & POSITION_TARGET_TYPEMASK_X_IGNORE) ? NAN : target_local_ned.x;
setpoint.y = (type_mask & POSITION_TARGET_TYPEMASK_Y_IGNORE) ? NAN : target_local_ned.y;
setpoint.z = (type_mask & POSITION_TARGET_TYPEMASK_Z_IGNORE) ? NAN : target_local_ned.z;
setpoint.x = (type_mask & POSITION_TARGET_TYPEMASK_X_IGNORE) ? (float)NAN : target_local_ned.x;
setpoint.y = (type_mask & POSITION_TARGET_TYPEMASK_Y_IGNORE) ? (float)NAN : target_local_ned.y;
setpoint.z = (type_mask & POSITION_TARGET_TYPEMASK_Z_IGNORE) ? (float)NAN : target_local_ned.z;
setpoint.vx = (type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? NAN : target_local_ned.vx;
setpoint.vy = (type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? NAN : target_local_ned.vy;
setpoint.vz = (type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? NAN : target_local_ned.vz;
setpoint.vx = (type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? (float)NAN : target_local_ned.vx;
setpoint.vy = (type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? (float)NAN : target_local_ned.vy;
setpoint.vz = (type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? (float)NAN : target_local_ned.vz;
setpoint.acceleration[0] = (type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? NAN : target_local_ned.afx;
setpoint.acceleration[1] = (type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? NAN : target_local_ned.afy;
setpoint.acceleration[2] = (type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? NAN : target_local_ned.afz;
setpoint.acceleration[0] = (type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? (float)NAN : target_local_ned.afx;
setpoint.acceleration[1] = (type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? (float)NAN : target_local_ned.afy;
setpoint.acceleration[2] = (type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? (float)NAN : target_local_ned.afz;
} else if (target_local_ned.coordinate_frame == MAV_FRAME_BODY_NED) {
@ -927,8 +927,8 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
setpoint.thrust[1] = NAN;
setpoint.thrust[2] = NAN;
setpoint.yaw = (type_mask & POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? NAN : target_local_ned.yaw;
setpoint.yawspeed = (type_mask & POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? NAN : target_local_ned.yaw_rate;
setpoint.yaw = (type_mask & POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? (float)NAN : target_local_ned.yaw;
setpoint.yawspeed = (type_mask & POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? (float)NAN : target_local_ned.yaw_rate;
offboard_control_mode_s ocm{};
@ -1038,21 +1038,21 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t
}
// velocity
setpoint.vx = (type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? NAN : target_global_int.vx;
setpoint.vy = (type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? NAN : target_global_int.vy;
setpoint.vz = (type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? NAN : target_global_int.vz;
setpoint.vx = (type_mask & POSITION_TARGET_TYPEMASK_VX_IGNORE) ? (float)NAN : target_global_int.vx;
setpoint.vy = (type_mask & POSITION_TARGET_TYPEMASK_VY_IGNORE) ? (float)NAN : target_global_int.vy;
setpoint.vz = (type_mask & POSITION_TARGET_TYPEMASK_VZ_IGNORE) ? (float)NAN : target_global_int.vz;
// acceleration
setpoint.acceleration[0] = (type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? NAN : target_global_int.afx;
setpoint.acceleration[1] = (type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? NAN : target_global_int.afy;
setpoint.acceleration[2] = (type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? NAN : target_global_int.afz;
setpoint.acceleration[0] = (type_mask & POSITION_TARGET_TYPEMASK_AX_IGNORE) ? (float)NAN : target_global_int.afx;
setpoint.acceleration[1] = (type_mask & POSITION_TARGET_TYPEMASK_AY_IGNORE) ? (float)NAN : target_global_int.afy;
setpoint.acceleration[2] = (type_mask & POSITION_TARGET_TYPEMASK_AZ_IGNORE) ? (float)NAN : target_global_int.afz;
setpoint.thrust[0] = NAN;
setpoint.thrust[1] = NAN;
setpoint.thrust[2] = NAN;
setpoint.yaw = (type_mask & POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? NAN : target_global_int.yaw;
setpoint.yawspeed = (type_mask & POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? NAN : target_global_int.yaw_rate;
setpoint.yaw = (type_mask & POSITION_TARGET_TYPEMASK_YAW_IGNORE) ? (float)NAN : target_global_int.yaw;
setpoint.yawspeed = (type_mask & POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE) ? (float)NAN : target_global_int.yaw_rate;
offboard_control_mode_s ocm{};
@ -1397,7 +1397,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
// TODO: review use case
attitude_setpoint.yaw_sp_move_rate = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ?
NAN : attitude_target.body_yaw_rate;
(float)NAN : attitude_target.body_yaw_rate;
if (!thrust_body && !(attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE)) {
fill_thrust(attitude_setpoint.thrust_body, vehicle_status.vehicle_type, attitude_target.thrust);
@ -1431,9 +1431,12 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
} else if (body_rates) {
vehicle_rates_setpoint_s setpoint{};
setpoint.roll = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE) ? NAN : attitude_target.body_roll_rate;
setpoint.pitch = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE) ? NAN : attitude_target.body_pitch_rate;
setpoint.yaw = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ? NAN : attitude_target.body_yaw_rate;
setpoint.roll = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE) ? (float)NAN :
attitude_target.body_roll_rate;
setpoint.pitch = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE) ? (float)NAN :
attitude_target.body_pitch_rate;
setpoint.yaw = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ? (float)NAN :
attitude_target.body_yaw_rate;
if (!(attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE)) {
fill_thrust(setpoint.thrust_body, vehicle_status.vehicle_type, attitude_target.thrust);
@ -2227,7 +2230,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
gps.vel_n_m_s = (float)(hil_gps.vn) / 100.0f; // cm/s -> m/s
gps.vel_e_m_s = (float)(hil_gps.ve) / 100.0f; // cm/s -> m/s
gps.vel_d_m_s = (float)(hil_gps.vd) / 100.0f; // cm/s -> m/s
gps.cog_rad = ((hil_gps.cog == 65535) ? NAN : matrix::wrap_2pi(math::radians(hil_gps.cog * 1e-2f))); // cdeg -> rad
gps.cog_rad = ((hil_gps.cog == 65535) ? (float)NAN : matrix::wrap_2pi(math::radians(hil_gps.cog * 1e-2f))); // cdeg -> rad
gps.vel_ned_valid = true;
gps.timestamp_time_relative = 0;

2
src/modules/mavlink/streams/WIND_COV.hpp
View File

@ -77,7 +77,7 @@ private:
vehicle_local_position_s lpos{};
_local_pos_sub.copy(&lpos);
msg.wind_alt = (lpos.z_valid && lpos.z_global) ? (-lpos.z + lpos.ref_alt) : NAN;
msg.wind_alt = (lpos.z_valid && lpos.z_global) ? (-lpos.z + lpos.ref_alt) : (float)NAN;
msg.horiz_accuracy = 0.0f;
msg.vert_accuracy = 0.0f;