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AP_Motors: fix compile warnings re float constants

mission-4.1.18
Tom Pittenger 10 years ago committed by Randy Mackay
parent
a8dda9f2ed
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a5ffadf201
5 changed files with 41 additions and 41 deletions
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  1. 32
      libraries/AP_Motors/AP_MotorsOcta.cpp
  2. 16
      libraries/AP_Motors/AP_MotorsOctaQuad.cpp
  3. 8
      libraries/AP_Motors/AP_MotorsQuad.cpp
  4. 24
      libraries/AP_Motors/AP_MotorsY6.cpp
  5. 2
      libraries/AP_Motors/AP_Motors_Class.cpp

32
libraries/AP_Motors/AP_MotorsOcta.cpp
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@ -42,24 +42,24 @@ void AP_MotorsOcta::setup_motors() @@ -42,24 +42,24 @@ void AP_MotorsOcta::setup_motors()
}else if( _flags.frame_orientation == AP_MOTORS_V_FRAME ) {
// V frame set-up
add_motor_raw(AP_MOTORS_MOT_1, 1.0, 0.34, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, -0.32, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, -0.32, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, -0.5, -1.0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 1.0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor_raw(AP_MOTORS_MOT_6, -1.0, 0.34, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_7, -1.0, 1.0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_8, 0.5, -1.0, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_1, 1.0f, 0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor_raw(AP_MOTORS_MOT_2, -1.0f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_3, 1.0f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, -0.5f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor_raw(AP_MOTORS_MOT_6, -1.0f, 0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_7, -1.0f, 1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_8, 0.5f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
}else {
// X frame set-up
add_motor(AP_MOTORS_MOT_1, 22.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, -157.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor(AP_MOTORS_MOT_3, 67.5, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_4, 157.5, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_5, -22.5, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, -112.5, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_7, -67.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor(AP_MOTORS_MOT_8, 112.5, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor(AP_MOTORS_MOT_1, 22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor(AP_MOTORS_MOT_2, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor(AP_MOTORS_MOT_3, 67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor(AP_MOTORS_MOT_4, 157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor(AP_MOTORS_MOT_5, -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
add_motor(AP_MOTORS_MOT_6, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor(AP_MOTORS_MOT_7, -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 7);
add_motor(AP_MOTORS_MOT_8, 112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
}
}

16
libraries/AP_Motors/AP_MotorsOctaQuad.cpp
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@ -41,14 +41,14 @@ void AP_MotorsOctaQuad::setup_motors() @@ -41,14 +41,14 @@ void AP_MotorsOctaQuad::setup_motors()
add_motor(AP_MOTORS_MOT_8, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 6);
}else if( _flags.frame_orientation == AP_MOTORS_V_FRAME ) {
// V frame set-up
add_motor(AP_MOTORS_MOT_1, 45, 0.7981, 1);
add_motor(AP_MOTORS_MOT_2, -45, -0.7981, 7);
add_motor(AP_MOTORS_MOT_3, -135, 1.0000, 5);
add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 3);
add_motor(AP_MOTORS_MOT_5, -45, 0.7981, 8);
add_motor(AP_MOTORS_MOT_6, 45, -0.7981, 2);
add_motor(AP_MOTORS_MOT_7, 135, 1.0000, 4);
add_motor(AP_MOTORS_MOT_8, -135, -1.0000, 6);
add_motor(AP_MOTORS_MOT_1, 45, 0.7981f, 1);
add_motor(AP_MOTORS_MOT_2, -45, -0.7981f, 7);
add_motor(AP_MOTORS_MOT_3, -135, 1.0000f, 5);
add_motor(AP_MOTORS_MOT_4, 135, -1.0000f, 3);
add_motor(AP_MOTORS_MOT_5, -45, 0.7981f, 8);
add_motor(AP_MOTORS_MOT_6, 45, -0.7981f, 2);
add_motor(AP_MOTORS_MOT_7, 135, 1.0000f, 4);
add_motor(AP_MOTORS_MOT_8, -135, -1.0000f, 6);
}else if( _flags.frame_orientation == AP_MOTORS_H_FRAME ) {
// H frame set-up - same as X but motors spin in opposite directions
add_motor(AP_MOTORS_MOT_1, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);

8
libraries/AP_Motors/AP_MotorsQuad.cpp
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@ -38,10 +38,10 @@ void AP_MotorsQuad::setup_motors() @@ -38,10 +38,10 @@ void AP_MotorsQuad::setup_motors()
}else if( _flags.frame_orientation == AP_MOTORS_V_FRAME ) {
// V frame set-up
add_motor(AP_MOTORS_MOT_1, 45, 0.7981, 1);
add_motor(AP_MOTORS_MOT_2, -135, 1.0000, 3);
add_motor(AP_MOTORS_MOT_3, -45, -0.7981, 4);
add_motor(AP_MOTORS_MOT_4, 135, -1.0000, 2);
add_motor(AP_MOTORS_MOT_1, 45, 0.7981f, 1);
add_motor(AP_MOTORS_MOT_2, -135, 1.0000f, 3);
add_motor(AP_MOTORS_MOT_3, -45, -0.7981f, 4);
add_motor(AP_MOTORS_MOT_4, 135, -1.0000f, 2);
}else if( _flags.frame_orientation == AP_MOTORS_H_FRAME ) {
// H frame set-up - same as X but motors spin in opposite directiSons

24
libraries/AP_Motors/AP_MotorsY6.cpp
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@ -30,19 +30,19 @@ void AP_MotorsY6::setup_motors() @@ -30,19 +30,19 @@ void AP_MotorsY6::setup_motors()
if (_flags.frame_orientation >= AP_MOTORS_NEW_PLUS_FRAME) {
// Y6 motor definition with all top motors spinning clockwise, all bottom motors counter clockwise
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_2, -1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_3, 0.0, -1.000, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.000, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_6, 1.0, 0.500, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_1, -1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_2, -1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_3, 0.0f, -1.000f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
add_motor_raw(AP_MOTORS_MOT_4, 0.0f, -1.000f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
add_motor_raw(AP_MOTORS_MOT_5, 1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_6, 1.0f, 0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
}else{
// original Y6 motor definition
add_motor_raw(AP_MOTORS_MOT_1, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_2, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_3, 1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor_raw(AP_MOTORS_MOT_5, -1.0, 0.666, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_6, 0.0, -1.333, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
add_motor_raw(AP_MOTORS_MOT_1, -1.0f, 0.666f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
add_motor_raw(AP_MOTORS_MOT_2, 1.0f, 0.666f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5);
add_motor_raw(AP_MOTORS_MOT_3, 1.0f, 0.666f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
add_motor_raw(AP_MOTORS_MOT_4, 0.0f, -1.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
add_motor_raw(AP_MOTORS_MOT_5, -1.0f, 0.666f, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
add_motor_raw(AP_MOTORS_MOT_6, 0.0f, -1.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
}
}

2
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -302,7 +302,7 @@ void AP_Motors::update_lift_max_from_batt_voltage() @@ -302,7 +302,7 @@ void AP_Motors::update_lift_max_from_batt_voltage()
{
// sanity check battery_voltage_min is not too small
// if disabled or misconfigured exit immediately
if((_batt_voltage_max <= 0) || (_batt_voltage_min >= _batt_voltage_max) || (_batt_voltage < 0.25*_batt_voltage_min)) {
if((_batt_voltage_max <= 0) || (_batt_voltage_min >= _batt_voltage_max) || (_batt_voltage < 0.25f*_batt_voltage_min)) {
_batt_voltage_filt.reset(1.0f);
_lift_max = 1.0f;
return;

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