AP_PitchController: return floats

libraries/APM_Control/AP_PitchController.cpp

@@ -144,7 +144,7 @@ AP_PitchController::AP_PitchController(const AP_Vehicle::FixedWing &parms)
 /*
   AC_PID based rate controller
 */
-int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed)
+float AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed)
 {
     const float dt = AP::scheduler().get_loop_period_s();
 
@@ -209,7 +209,7 @@ int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool
     }
     
     // output is scaled to notional centidegrees of deflection
-    return constrain_int32(out * 100, -4500, 4500);
+    return constrain_float(out * 100, -4500, 4500);
 }
 
 /*
@@ -222,7 +222,7 @@ int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool
  4) minimum FBW airspeed (metres/sec)
  5) maximum FBW airspeed (metres/sec)
 */
-int32_t AP_PitchController::get_rate_out(float desired_rate, float scaler)
+float AP_PitchController::get_rate_out(float desired_rate, float scaler)
 {
     float aspeed;
 	if (!AP::ahrs().airspeed_estimate(aspeed)) {
@@ -282,7 +282,7 @@ float AP_PitchController::_get_coordination_rate_offset(float &aspeed, bool &inv
 // 4) minimum FBW airspeed (metres/sec)
 // 5) maximum FBW airspeed (metres/sec)
 //
-int32_t AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool disable_integrator)
+float AP_PitchController::get_servo_out(int32_t angle_err, float scaler, bool disable_integrator)
 {
 	// Calculate offset to pitch rate demand required to maintain pitch angle whilst banking
 	// Calculate ideal turn rate from bank angle and airspeed assuming a level coordinated turn

libraries/APM_Control/AP_PitchController.h

@@ -15,8 +15,8 @@ public:
     AP_PitchController(const AP_PitchController &other) = delete;
     AP_PitchController &operator=(const AP_PitchController&) = delete;
 
-	int32_t get_rate_out(float desired_rate, float scaler);
-	int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
+	float get_rate_out(float desired_rate, float scaler);
+	float get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
 
 	void reset_I();
 
@@ -56,6 +56,6 @@ private:
 
     AP_Logger::PID_Info _pid_info;
 
-    int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed);
+    float _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed);
     float   _get_coordination_rate_offset(float &aspeed, bool &inverted) const;
 };