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AC_Fence: append f to floating point constants

mission-4.1.18
Randy Mackay 11 years ago committed by unknown
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9e2cd93b2d
commit
0c0521a555
1 changed files with 7 additions and 7 deletions
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  1. 14
      libraries/AC_Fence/AC_Fence.cpp

14
libraries/AC_Fence/AC_Fence.cpp
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@ -70,7 +70,7 @@ AC_Fence::AC_Fence(const AP_InertialNav* inav) :
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
// check for silly fence values // check for silly fence values
if (_alt_max < 0) { if (_alt_max < 0.0f) {
_alt_max.set_and_save(AC_FENCE_ALT_MAX_DEFAULT); _alt_max.set_and_save(AC_FENCE_ALT_MAX_DEFAULT);
} }
if (_circle_radius < 0) { if (_circle_radius < 0) {
@ -144,7 +144,7 @@ uint8_t AC_Fence::check_fence()
_alt_max_breach_distance = curr_alt - _alt_max; _alt_max_breach_distance = curr_alt - _alt_max;
// check for a new breach or a breach of the backup fence // check for a new breach or a breach of the backup fence
if ((_breached_fences & AC_FENCE_TYPE_ALT_MAX) == 0 || (_alt_max_backup != 0 && curr_alt >= _alt_max_backup)) { if ((_breached_fences & AC_FENCE_TYPE_ALT_MAX) == 0 || (_alt_max_backup != 0.0f && curr_alt >= _alt_max_backup)) {
// record that we have breached the upper limit // record that we have breached the upper limit
record_breach(AC_FENCE_TYPE_ALT_MAX); record_breach(AC_FENCE_TYPE_ALT_MAX);
@ -157,8 +157,8 @@ uint8_t AC_Fence::check_fence()
// clear alt breach if present // clear alt breach if present
if ((_breached_fences & AC_FENCE_TYPE_ALT_MAX) != 0) { if ((_breached_fences & AC_FENCE_TYPE_ALT_MAX) != 0) {
clear_breach(AC_FENCE_TYPE_ALT_MAX); clear_breach(AC_FENCE_TYPE_ALT_MAX);
_alt_max_backup = 0; _alt_max_backup = 0.0f;
_alt_max_breach_distance = 0; _alt_max_breach_distance = 0.0f;
} }
} }
} }
@ -173,7 +173,7 @@ uint8_t AC_Fence::check_fence()
_circle_breach_distance = _home_distance - _circle_radius; _circle_breach_distance = _home_distance - _circle_radius;
// check for a new breach or a breach of the backup fence // check for a new breach or a breach of the backup fence
if ((_breached_fences & AC_FENCE_TYPE_CIRCLE) == 0 || (_circle_radius_backup != 0 && _home_distance >= _circle_radius_backup)) { if ((_breached_fences & AC_FENCE_TYPE_CIRCLE) == 0 || (_circle_radius_backup != 0.0f && _home_distance >= _circle_radius_backup)) {
// record that we have breached the circular distance limit // record that we have breached the circular distance limit
record_breach(AC_FENCE_TYPE_CIRCLE); record_breach(AC_FENCE_TYPE_CIRCLE);
@ -186,8 +186,8 @@ uint8_t AC_Fence::check_fence()
// clear circle breach if present // clear circle breach if present
if ((_breached_fences & AC_FENCE_TYPE_CIRCLE) != 0) { if ((_breached_fences & AC_FENCE_TYPE_CIRCLE) != 0) {
clear_breach(AC_FENCE_TYPE_CIRCLE); clear_breach(AC_FENCE_TYPE_CIRCLE);
_circle_radius_backup = 0; _circle_radius_backup = 0.0f;
_circle_breach_distance = 0; _circle_breach_distance = 0.0f;
} }
} }
} }

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