Rover: replaced constrain() with constrain_float()

APMrover2/GCS_Mavlink.pde

@@ -1595,17 +1595,17 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 } else if (var_type == AP_PARAM_INT32) {
                     if (packet.param_value < 0) rounding_addition = -rounding_addition;
                     float v = packet.param_value+rounding_addition;
-                    v = constrain(v, -2147483648.0f, 2147483647.0f);
+                    v = constrain_float(v, -2147483648.0f, 2147483647.0f);
 					((AP_Int32 *)vp)->set_and_save(v);
                 } else if (var_type == AP_PARAM_INT16) {
                     if (packet.param_value < 0) rounding_addition = -rounding_addition;
                     float v = packet.param_value+rounding_addition;
-                    v = constrain(v, -32768, 32767);
+                    v = constrain_float(v, -32768, 32767);
 					((AP_Int16 *)vp)->set_and_save(v);
                 } else if (var_type == AP_PARAM_INT8) {
                     if (packet.param_value < 0) rounding_addition = -rounding_addition;
                     float v = packet.param_value+rounding_addition;
-                    v = constrain(v, -128, 127);
+                    v = constrain_float(v, -128, 127);
 					((AP_Int8 *)vp)->set_and_save(v);
                 } else {
                     // we don't support mavlink set on this parameter

APMrover2/Steering.pde

@@ -92,7 +92,7 @@ static void calc_throttle(float target_speed)
       SPEED_TURN_GAIN percentage.
     */
     float steer_rate = fabsf((nav_steer_cd/nav_gain_scaler) / (float)SERVO_MAX);
-    steer_rate = constrain(steer_rate, 0.0, 1.0);
+    steer_rate = constrain_float(steer_rate, 0.0, 1.0);
     float reduction = 1.0 - steer_rate*(100 - g.speed_turn_gain)*0.01;
     
     if (control_mode >= AUTO && wp_distance <= g.speed_turn_dist) {
@@ -129,7 +129,7 @@ static void calc_nav_steer()
     } else {
         nav_gain_scaler = g.speed_cruise / ground_speed;
     }
-	nav_gain_scaler = constrain(nav_gain_scaler, 0.2f, 1.4f);
+	nav_gain_scaler = constrain_float(nav_gain_scaler, 0.2f, 1.4f);
 
 	// Calculate the required turn of the wheels rover
 	// ----------------------------------------

APMrover2/navigation.pde

@@ -52,7 +52,7 @@ static void update_crosstrack(void)
 	// ----------------
 	if (abs(wrap_180_cd(target_bearing - crosstrack_bearing)) < 4500) {	 // If we are too far off or too close we don't do track following
 		crosstrack_error = sinf(radians((target_bearing - crosstrack_bearing) / (float)100)) * wp_distance;	 // Meters we are off track line
-		nav_bearing += constrain(crosstrack_error * g.crosstrack_gain, -g.crosstrack_entry_angle.get(), g.crosstrack_entry_angle.get());
+		nav_bearing += constrain_float(crosstrack_error * g.crosstrack_gain, -g.crosstrack_entry_angle.get(), g.crosstrack_entry_angle.get());
 		nav_bearing = wrap_360_cd(nav_bearing);
 	}
 }

APMrover2/test.pde

@@ -154,7 +154,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
 		// ------------------------------
 		set_servos();
 
-        tuning_value = constrain(((float)(g.rc_7.radio_in - g.rc_7.radio_min) / (float)(g.rc_7.radio_max - g.rc_7.radio_min)),0,1);
+        tuning_value = constrain_float(((float)(g.rc_7.radio_in - g.rc_7.radio_min) / (float)(g.rc_7.radio_max - g.rc_7.radio_min)),0,1);
                 
 		cliSerial->printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d  Tuning = %2.3f\n"),
 							g.channel_steer.control_in,