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Fix use of floating point math functions

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This commit is contained in:
Mathias Rasmussen 2021-12-03 03:58:19 +01:00
parent 4c034d67ee
commit 87c259a26e
9 changed files with 20 additions and 19 deletions
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5
src/main/flight/pid.c
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@ -1233,13 +1233,14 @@ bool pidAntiGravityEnabled(void)
#ifdef USE_DYN_LPF
void dynLpfDTermUpdate(float throttle)
{
unsigned int cutoffFreq;
if (pidRuntime.dynLpfFilter != DYN_LPF_NONE) {
float cutoffFreq;
if (pidRuntime.dynLpfCurveExpo > 0) {
cutoffFreq = dynLpfCutoffFreq(throttle, pidRuntime.dynLpfMin, pidRuntime.dynLpfMax, pidRuntime.dynLpfCurveExpo);
} else {
cutoffFreq = fmax(dynThrottle(throttle) * pidRuntime.dynLpfMax, pidRuntime.dynLpfMin);
cutoffFreq = fmaxf(dynThrottle(throttle) * pidRuntime.dynLpfMax, pidRuntime.dynLpfMin);
}
switch (pidRuntime.dynLpfFilter) {
case DYN_LPF_PT1:
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {