Rover: use float qualifier and functions

APMrover2/APMrover2.cpp

@@ -442,8 +442,8 @@ void Rover::update_current_mode(void)
                     gcs_send_mission_item_reached_message(0);
                 }
                 g2.motors.set_throttle(g.throttle_min.get());
-                g2.motors.set_steering(0);
-                lateral_acceleration = 0;
+                g2.motors.set_steering(0.0f);
+                lateral_acceleration = 0.0f;
             } else {
                 calc_lateral_acceleration();
                 calc_nav_steer();
@@ -502,8 +502,8 @@ void Rover::update_current_mode(void)
 
     case HOLD:
         // hold position - stop motors and center steering
-        g2.motors.set_throttle(0);
-        g2.motors.set_steering(0);
+        g2.motors.set_throttle(0.0f);
+        g2.motors.set_steering(0.0f);
         if (!in_auto_reverse) {
             set_reverse(false);
         }
@@ -553,8 +553,8 @@ void Rover::update_navigation()
             if (rtl_complete || verify_RTL()) {
                 // we have reached destination so stop where we are
                 g2.motors.set_throttle(g.throttle_min.get());
-                g2.motors.set_steering(0);
-                lateral_acceleration = 0;
+                g2.motors.set_steering(0.0f);
+                lateral_acceleration = 0.0f;
             } else {
                 calc_lateral_acceleration();
                 calc_nav_steer();

APMrover2/AP_MotorsUGV.cpp

@@ -200,9 +200,9 @@ void AP_MotorsUGV::output_skid_steering(bool armed, float steering, float thrott
 void AP_MotorsUGV::slew_limit_throttle(float dt)
 {
     if (_use_slew_rate && (_slew_rate > 0)) {
-        float temp = _slew_rate * dt * 0.01f * 100;  // TODO : get THROTTLE MIN and THROTTLE MAX
-        if (temp < 1) {
-            temp = 1;
+        float temp = _slew_rate * dt * 0.01f * 100.0f;  // TODO : get THROTTLE MIN and THROTTLE MAX
+        if (temp < 1.0f) {
+            temp = 1.0f;
         }
         _throttle = constrain_int16(_throttle, _last_throttle - temp, _last_throttle + temp);
     }

APMrover2/Steering.cpp

@@ -104,7 +104,7 @@ void Rover::calc_throttle(float target_speed) {
         g2.motors.set_throttle(g.throttle_min.get());
         // Stop rotation in case of loitering and skid steering
         if (g2.motors.have_skid_steering()) {
-            g2.motors.set_steering(0);
+            g2.motors.set_steering(0.0f);
         }
         return;
     }
@@ -172,7 +172,7 @@ void Rover::calc_throttle(float target_speed) {
     if (guided_mode != Guided_Velocity) {
         if (use_pivot_steering()) {
             // In Guided Velocity, only the steering input is used to calculate the pivot turn.
-            g2.motors.set_throttle(0);
+            g2.motors.set_throttle(0.0f);
         }
     }
 }
@@ -223,7 +223,7 @@ void Rover::calc_lateral_acceleration() {
 void Rover::calc_nav_steer() {
     // check to see if the rover is loitering
     if (in_stationary_loiter()) {
-        g2.motors.set_steering(0);
+        g2.motors.set_steering(0.0f);
         return;
     }
 

APMrover2/commands_logic.cpp

@@ -378,7 +378,7 @@ void Rover::nav_set_yaw_speed()
     if ((millis() - guided_control.msg_time_ms) > 3000) {
         gcs_send_text(MAV_SEVERITY_WARNING, "NAV_SET_YAW_SPEED not recvd last 3secs, stopping");
         g2.motors.set_throttle(g.throttle_min.get());
-        g2.motors.set_steering(0);
+        g2.motors.set_steering(0.0f);
         lateral_acceleration = 0.0f;
         return;
     }
@@ -401,7 +401,7 @@ void Rover::nav_set_speed()
     if ((millis() - guided_control.msg_time_ms) > 3000) {
         gcs_send_text(MAV_SEVERITY_WARNING, "SET_VELOCITY not recvd last 3secs, stopping");
         g2.motors.set_throttle(g.throttle_min.get());
-        g2.motors.set_steering(0);
+        g2.motors.set_steering(0.0f);
         lateral_acceleration = 0.0f;
         prev_WP = current_loc;
         next_WP = current_loc;
@@ -473,9 +473,9 @@ bool Rover::do_yaw_rotation()
 
     // check if we are within 5 degrees of the target heading
     if (error_to_target_yaw <= 500) {
-        g2.motors.set_steering(0);  // stop the current rotation
+        g2.motors.set_steering(0.0f);  // stop the current rotation
         condition_value = condition_start;  // reset the condition value to its previous value
-        g2.motors.set_throttle(0);
+        g2.motors.set_throttle(0.0f);
         next_navigation_leg_cd = mission.get_next_ground_course_cd(0);
         do_auto_rotation = false;
         return true;

APMrover2/radio.cpp

@@ -158,9 +158,9 @@ void Rover::read_radio()
 
     // Check if the throttle value is above 50% and we need to nudge
     // Make sure its above 50% in the direction we are travelling
-    if ((fabs(g2.motors.get_throttle()) > 50) &&
-        (((g2.motors.get_throttle() < 0) && in_reverse) ||
-         ((g2.motors.get_throttle() > 0) && !in_reverse))) {
+    if ((fabsf(g2.motors.get_throttle()) > 50.0f) &&
+        ((is_negative(g2.motors.get_throttle()) && in_reverse) ||
+         (is_positive(g2.motors.get_throttle()) && !in_reverse))) {
         throttle_nudge = (g.throttle_max - g.throttle_cruise) *
                          ((fabsf(channel_throttle->norm_input()) - 0.5f) / 0.5f);
     } else {