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AC_AttControl: cast fabs to float to resolve compiler warning

mission-4.1.18
Randy Mackay 11 years ago committed by unknown
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241c147e2a
commit
0f7178e447
1 changed files with 4 additions and 4 deletions
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  1. 8
      libraries/AC_AttitudeControl/AC_AttitudeControl.cpp

8
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -108,9 +108,9 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle @@ -108,9 +108,9 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle
// calculate earth-frame feed forward roll rate using linear response when close to the target, sqrt response when we're further away
angle_to_target = roll_angle_ef - _angle_ef_target.x;
if (angle_to_target > linear_angle) {
rate_ef_desired = safe_sqrt(2.0f*_accel_rp_max*(fabs(angle_to_target)-(linear_angle/2.0f)));
rate_ef_desired = safe_sqrt(2.0f*_accel_rp_max*((float)fabs(angle_to_target)-(linear_angle/2.0f)));
} else if (angle_to_target < -linear_angle) {
rate_ef_desired = -safe_sqrt(2.0f*_accel_rp_max*(fabs(angle_to_target)-(linear_angle/2.0f)));
rate_ef_desired = -safe_sqrt(2.0f*_accel_rp_max*((float)fabs(angle_to_target)-(linear_angle/2.0f)));
} else {
rate_ef_desired = smoothing_gain*angle_to_target;
}
@ -122,9 +122,9 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle @@ -122,9 +122,9 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle
// calculate earth-frame feed forward pitch rate using linear response when close to the target, sqrt response when we're further away
angle_to_target = pitch_angle_ef - _angle_ef_target.y;
if (angle_to_target > linear_angle) {
rate_ef_desired = safe_sqrt(2.0f*_accel_rp_max*(fabs(angle_to_target)-(linear_angle/2.0f)));
rate_ef_desired = safe_sqrt(2.0f*_accel_rp_max*((float)fabs(angle_to_target)-(linear_angle/2.0f)));
} else if (angle_to_target < -linear_angle) {
rate_ef_desired = -safe_sqrt(2.0f*_accel_rp_max*(fabs(angle_to_target)-(linear_angle/2.0f)));
rate_ef_desired = -safe_sqrt(2.0f*_accel_rp_max*((float)fabs(angle_to_target)-(linear_angle/2.0f)));
} else {
rate_ef_desired = smoothing_gain*angle_to_target;
}

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