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AC_AttitudeControl: fixed M_PI -> M_PI_F

master
Andrew Tridgell 9 years ago
parent
d24f6f4050
commit
fbacb4c01f
1 changed files with 8 additions and 8 deletions
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  1. 16
      libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp

16
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -71,15 +71,15 @@ void AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(float roll_pass @@ -71,15 +71,15 @@ void AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(float roll_pass
}
// handle flipping over pitch axis
if (_att_target_euler_rad.y > M_PI/2.0f) {
_att_target_euler_rad.x = wrap_PI(_att_target_euler_rad.x + M_PI);
_att_target_euler_rad.y = wrap_PI(M_PI - _att_target_euler_rad.x);
_att_target_euler_rad.z = wrap_2PI(_att_target_euler_rad.z + M_PI);
if (_att_target_euler_rad.y > M_PI_F/2.0f) {
_att_target_euler_rad.x = wrap_PI(_att_target_euler_rad.x + M_PI_F);
_att_target_euler_rad.y = wrap_PI(M_PI_F - _att_target_euler_rad.x);
_att_target_euler_rad.z = wrap_2PI(_att_target_euler_rad.z + M_PI_F);
}
if (_att_target_euler_rad.y < -M_PI/2.0f) {
_att_target_euler_rad.x = wrap_PI(_att_target_euler_rad.x + M_PI);
_att_target_euler_rad.y = wrap_PI(-M_PI - _att_target_euler_rad.x);
_att_target_euler_rad.z = wrap_2PI(_att_target_euler_rad.z + M_PI);
if (_att_target_euler_rad.y < -M_PI_F/2.0f) {
_att_target_euler_rad.x = wrap_PI(_att_target_euler_rad.x + M_PI_F);
_att_target_euler_rad.y = wrap_PI(-M_PI_F - _att_target_euler_rad.x);
_att_target_euler_rad.z = wrap_2PI(_att_target_euler_rad.z + M_PI_F);
}
// convert body-frame angle errors to body-frame rate targets

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