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AP_TECS: avoid comparison between signed and unsigned

master
Lucas De Marchi 9 years ago
parent
83ff0476a8
commit
fef364e4e8
1 changed files with 3 additions and 3 deletions
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  1. 6
      libraries/AP_TECS/AP_TECS.cpp

6
libraries/AP_TECS/AP_TECS.cpp
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@ -226,7 +226,7 @@ void AP_TECS::update_50hz(float hgt_afe)
// Calculate time in seconds since last update // Calculate time in seconds since last update
uint32_t now = AP_HAL::micros(); uint32_t now = AP_HAL::micros();
float DT = MAX((now - _update_50hz_last_usec),0)*1.0e-6f; float DT = MAX((now - _update_50hz_last_usec), 0U) * 1.0e-6f;
if (DT > 1.0f) { if (DT > 1.0f) {
_climb_rate = 0.0f; _climb_rate = 0.0f;
_height_filter.dd_height = 0.0f; _height_filter.dd_height = 0.0f;
@ -284,7 +284,7 @@ void AP_TECS::_update_speed(float load_factor)
{ {
// Calculate time in seconds since last update // Calculate time in seconds since last update
uint32_t now = AP_HAL::micros(); uint32_t now = AP_HAL::micros();
float DT = MAX((now - _update_speed_last_usec),0)*1.0e-6f; float DT = MAX((now - _update_speed_last_usec), 0U) * 1.0e-6f;
_update_speed_last_usec = now; _update_speed_last_usec = now;
// Convert equivalent airspeeds to true airspeeds // Convert equivalent airspeeds to true airspeeds
@ -794,7 +794,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
{ {
// Calculate time in seconds since last update // Calculate time in seconds since last update
uint32_t now = AP_HAL::micros(); uint32_t now = AP_HAL::micros();
_DT = MAX((now - _update_pitch_throttle_last_usec),0)*1.0e-6f; _DT = MAX((now - _update_pitch_throttle_last_usec), 0U) * 1.0e-6f;
_update_pitch_throttle_last_usec = now; _update_pitch_throttle_last_usec = now;
// Update the speed estimate using a 2nd order complementary filter // Update the speed estimate using a 2nd order complementary filter

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