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Code Issues Wiki Activity

Use lrintf to round floats to integers

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This commit is contained in:
Mathias Rasmussen 2021-12-04 20:29:42 +01:00 • committed by KarateBrot
parent b84b8c1ca5
commit 34ee2f67c9
8 changed files with 29 additions and 31 deletions
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12
src/main/flight/mixer.c
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@ -223,7 +223,7 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
if (mixerRuntime.dynIdleMinRps > 0.0f) {
const float maxIncrease = isAirmodeActivated() ? mixerRuntime.dynIdleMaxIncrease : 0.05f;
float minRps = rpmMinMotorFrequency();
DEBUG_SET(DEBUG_DYN_IDLE, 3, (minRps * 10));
DEBUG_SET(DEBUG_DYN_IDLE, 3, lrintf(minRps * 10));
float rpsError = mixerRuntime.dynIdleMinRps - minRps;
// PT1 type lowpass delay and smoothing for D
minRps = mixerRuntime.prevMinRps + mixerRuntime.minRpsDelayK * (minRps - mixerRuntime.prevMinRps);
@ -234,9 +234,9 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
mixerRuntime.dynIdleI += rpsError * mixerRuntime.dynIdleIGain;
mixerRuntime.dynIdleI = constrainf(mixerRuntime.dynIdleI, 0.0f, maxIncrease);
motorRangeMinIncrease = constrainf((dynIdleP + mixerRuntime.dynIdleI + dynIdleD), 0.0f, maxIncrease);
DEBUG_SET(DEBUG_DYN_IDLE, 0, (MAX(-1000.0f, dynIdleP * 10000)));
DEBUG_SET(DEBUG_DYN_IDLE, 1, (mixerRuntime.dynIdleI * 10000));
DEBUG_SET(DEBUG_DYN_IDLE, 2, (dynIdleD * 10000));
DEBUG_SET(DEBUG_DYN_IDLE, 0, MAX(-1000, lrintf(dynIdleP * 10000)));
DEBUG_SET(DEBUG_DYN_IDLE, 1, lrintf(mixerRuntime.dynIdleI * 10000));
DEBUG_SET(DEBUG_DYN_IDLE, 2, lrintf(dynIdleD * 10000));
} else {
motorRangeMinIncrease = 0;
}
@ -250,8 +250,8 @@ static void calculateThrottleAndCurrentMotorEndpoints(timeUs_t currentTimeUs)
// batteryGoodness = 1 when voltage is above vbatFull, and 0 when voltage is below vbatLow
float batteryGoodness = 1.0f - constrainf((mixerRuntime.vbatFull - currentCellVoltage) / mixerRuntime.vbatRangeToCompensate, 0.0f, 1.0f);
motorRangeAttenuationFactor = (mixerRuntime.vbatRangeToCompensate / mixerRuntime.vbatFull) * batteryGoodness * mixerRuntime.vbatSagCompensationFactor;
DEBUG_SET(DEBUG_BATTERY, 2, batteryGoodness * 100);
DEBUG_SET(DEBUG_BATTERY, 3, motorRangeAttenuationFactor * 1000);
DEBUG_SET(DEBUG_BATTERY, 2, lrintf(batteryGoodness * 100));
DEBUG_SET(DEBUG_BATTERY, 3, lrintf(motorRangeAttenuationFactor * 1000));
}
motorRangeMax = isFlipOverAfterCrashActive() ? mixerRuntime.motorOutputHigh : mixerRuntime.motorOutputHigh - motorRangeAttenuationFactor * (mixerRuntime.motorOutputHigh - mixerRuntime.motorOutputLow);
#else