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prevent double-precision promotion where its not required

This commit is contained in:
Lorenz Meier 2012-10-31 15:49:01 +01:00
parent 939fc83c4a
commit 8dcde7f8cd
1 changed files with 2 additions and 2 deletions
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4
apps/systemlib/pid/pid.c
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@ -155,8 +155,8 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
// Calculate the error integral and check for saturation
i = pid->integral + (error * dt);
if (fabs((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit ||
fabs(i) > pid->intmax) {
if (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit ||
fabsf(i) > pid->intmax) {
i = pid->integral; // If saturated then do not update integral value
pid->saturated = 1;