From 5128991a84d5256baad55b7e94153b52a45240fc Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 14 Jul 2014 23:21:15 +0900 Subject: [PATCH] AC_AttControlHeli: cast fabs to float to resolve compiler warning --- libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp index da25549ebd..abb9f00115 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp @@ -146,13 +146,13 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target pitch_out = pitch_pd + pitch_i + pitch_ff; // constrain output and update limit flags - if (fabs(roll_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) { + if ((float)fabs(roll_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) { roll_out = constrain_float(roll_out,-AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX); _flags_heli.limit_roll = true; }else{ _flags_heli.limit_roll = false; } - if (fabs(pitch_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) { + if ((float)fabs(pitch_out) > AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX) { pitch_out = constrain_float(pitch_out,-AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_RP_CONTROLLER_OUT_MAX); _flags_heli.limit_pitch = true; }else{ @@ -277,7 +277,7 @@ float AC_AttitudeControl_Heli::rate_bf_to_motor_yaw(float rate_target_cds) yaw_out = pd + i + ff; // constrain output and update limit flag - if (fabs(yaw_out) > AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX) { + if ((float)fabs(yaw_out) > AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX) { yaw_out = constrain_float(yaw_out,-AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX,AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX); _flags_heli.limit_yaw = true; }else{