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AC_AttControlHeli: cast fabs to float to resolve compiler warning

master
Randy Mackay 11 years ago committed by unknown
parent
1f2e38ed28
commit
5128991a84
1 changed files with 3 additions and 3 deletions
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  1. 6
      libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp

6
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -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; pitch_out = pitch_pd + pitch_i + pitch_ff;
// constrain output and update limit flags // 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); 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; _flags_heli.limit_roll = true;
}else{ }else{
_flags_heli.limit_roll = false; _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); 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; _flags_heli.limit_pitch = true;
}else{ }else{
@ -277,7 +277,7 @@ float AC_AttitudeControl_Heli::rate_bf_to_motor_yaw(float rate_target_cds)
yaw_out = pd + i + ff; yaw_out = pd + i + ff;
// constrain output and update limit flag // 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); 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; _flags_heli.limit_yaw = true;
}else{ }else{

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