From d312e52aee02841c730b6537d58eae7e77be7c87 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Mon, 4 Jan 2016 13:06:27 +0900 Subject: [PATCH] AC_InputManager: add f for float constants --- libraries/AC_InputManager/AC_InputManager_Heli.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/libraries/AC_InputManager/AC_InputManager_Heli.cpp b/libraries/AC_InputManager/AC_InputManager_Heli.cpp index bfd2bee93d..b0c3d6cfd6 100644 --- a/libraries/AC_InputManager/AC_InputManager_Heli.cpp +++ b/libraries/AC_InputManager/AC_InputManager_Heli.cpp @@ -93,29 +93,29 @@ int16_t AC_InputManager_Heli::get_pilot_desired_collective(int16_t control_in) _acro_col_expo = 1.0f; } - if (_acro_col_expo <= 0) { + if (_acro_col_expo <= 0.0f) { acro_col_out = control_in; } else { // expo variables float col_in, col_in3, col_out; col_in = (float)(control_in-500)/500.0f; col_in3 = col_in*col_in*col_in; - col_out = (_acro_col_expo * col_in3) + ((1-_acro_col_expo)*col_in); + col_out = (_acro_col_expo * col_in3) + ((1.0f-_acro_col_expo)*col_in); acro_col_out = 500 + col_out*500; } acro_col_out = constrain_int16(acro_col_out, 0, 1000); // ramp to and from stab col over 1/2 second - if (_im_flags_heli.use_stab_col && (_stab_col_ramp < 1.0)){ + if (_im_flags_heli.use_stab_col && (_stab_col_ramp < 1.0f)){ _stab_col_ramp += 2.0f/(float)_loop_rate; - } else if(!_im_flags_heli.use_stab_col && (_stab_col_ramp > 0.0)){ + } else if(!_im_flags_heli.use_stab_col && (_stab_col_ramp > 0.0f)){ _stab_col_ramp -= 2.0f/(float)_loop_rate; } - _stab_col_ramp = constrain_float(_stab_col_ramp, 0.0, 1.0); + _stab_col_ramp = constrain_float(_stab_col_ramp, 0.0f, 1.0f); // scale collective output smoothly between acro and stab col int16_t collective_out; - collective_out = (float)((1.0-_stab_col_ramp)*acro_col_out + _stab_col_ramp*stab_col_out); + collective_out = (float)((1.0f-_stab_col_ramp)*acro_col_out + _stab_col_ramp*stab_col_out); collective_out = constrain_int16(collective_out, 0, 1000); return collective_out;