From 0f7178e447a985d079e6ee412b1fe78d16ca35c0 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 14 Jul 2014 23:06:21 +0900 Subject: [PATCH] AC_AttControl: cast fabs to float to resolve compiler warning --- libraries/AC_AttitudeControl/AC_AttitudeControl.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp index c35e1f7967..07a01c11fc 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp @@ -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 // 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; }