AC_PosControl: change int32/int16 to float in accel_to_throttle

libraries/AC_AttitudeControl/AC_PosControl.cpp

@@ -335,7 +335,6 @@ void AC_PosControl::rate_to_accel_z()
 
     // consolidate and constrain target acceleration
     desired_accel = _accel_feedforward.z + p;
-    desired_accel = constrain_int32(desired_accel, -32000, 32000);
 
     // set target for accel based throttle controller
     accel_to_throttle(desired_accel);
@@ -346,7 +345,7 @@ void AC_PosControl::rate_to_accel_z()
 void AC_PosControl::accel_to_throttle(float accel_target_z)
 {
     float z_accel_meas;         // actual acceleration
-    int32_t p,i,d;              // used to capture pid values for logging
+    float p,i,d;              // used to capture pid values for logging
 
     // Calculate Earth Frame Z acceleration
     z_accel_meas = -(_ahrs.get_accel_ef_blended().z + GRAVITY_MSS) * 100.0f;
@@ -359,7 +358,7 @@ void AC_PosControl::accel_to_throttle(float accel_target_z)
         _flags.reset_accel_to_throttle = false;
     } else {
         // calculate accel error and Filter with fc = 2 Hz
-        _accel_error.z = _accel_error_filter.apply(constrain_float(accel_target_z - z_accel_meas, -32000, 32000));
+        _accel_error.z = _accel_error_filter.apply(accel_target_z - z_accel_meas);
     }
 
     // set input to PID
@@ -380,7 +379,7 @@ void AC_PosControl::accel_to_throttle(float accel_target_z)
     // get d term
     d = _pid_accel_z.get_d();
 
-    int16_t thr_out = (int16_t)p+i+d+_throttle_hover;
+    float thr_out = p+i+d+_throttle_hover;
 
     // send throttle to attitude controller with angle boost
     _attitude_control.set_throttle_out(thr_out, true);