From c3fff1a5de51f20a1aaa638999dd5de3be725e51 Mon Sep 17 00:00:00 2001 From: Michael Keller Date: Tue, 8 Oct 2019 15:45:00 +1300 Subject: [PATCH] Fixed instances of int functions being used in float expressions. --- src/main/sensors/gyro.c | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index 5ba6a22859..2eae9232fd 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -910,9 +910,9 @@ static FAST_CODE_NOINLINE void handleOverflow(timeUs_t currentTimeUs) // after both sensors are scaled and averaged. const float gyroOverflowResetRate = GYRO_OVERFLOW_RESET_THRESHOLD * gyro.scale; - if ((abs(gyro.gyroADCf[X]) < gyroOverflowResetRate) - && (abs(gyro.gyroADCf[Y]) < gyroOverflowResetRate) - && (abs(gyro.gyroADCf[Z]) < gyroOverflowResetRate)) { + if ((fabsf(gyro.gyroADCf[X]) < gyroOverflowResetRate) + && (fabsf(gyro.gyroADCf[Y]) < gyroOverflowResetRate) + && (fabsf(gyro.gyroADCf[Z]) < gyroOverflowResetRate)) { // if we have 50ms of consecutive OK gyro vales, then assume yaw readings are OK again and reset overflowDetected // reset requires good OK values on all axes if (cmpTimeUs(currentTimeUs, overflowTimeUs) > 50000) { @@ -943,13 +943,13 @@ static FAST_CODE void checkForOverflow(timeUs_t currentTimeUs) // after both sensors are scaled and averaged. const float gyroOverflowTriggerRate = GYRO_OVERFLOW_TRIGGER_THRESHOLD * gyro.scale; - if (abs(gyro.gyroADCf[X]) > gyroOverflowTriggerRate) { + if (fabsf(gyro.gyroADCf[X]) > gyroOverflowTriggerRate) { overflowCheck |= GYRO_OVERFLOW_X; } - if (abs(gyro.gyroADCf[Y]) > gyroOverflowTriggerRate) { + if (fabsf(gyro.gyroADCf[Y]) > gyroOverflowTriggerRate) { overflowCheck |= GYRO_OVERFLOW_Y; } - if (abs(gyro.gyroADCf[Z]) > gyroOverflowTriggerRate) { + if (fabsf(gyro.gyroADCf[Z]) > gyroOverflowTriggerRate) { overflowCheck |= GYRO_OVERFLOW_Z; } if (overflowCheck & overflowAxisMask) { @@ -968,7 +968,7 @@ static FAST_CODE void checkForOverflow(timeUs_t currentTimeUs) static FAST_CODE_NOINLINE void handleYawSpin(timeUs_t currentTimeUs) { const float yawSpinResetRate = gyroConfig()->yaw_spin_threshold - 100.0f; - if (abs(gyro.gyroADCf[Z]) < yawSpinResetRate) { + if (fabsf(gyro.gyroADCf[Z]) < yawSpinResetRate) { // testing whether 20ms of consecutive OK gyro yaw values is enough if (cmpTimeUs(currentTimeUs, yawSpinTimeUs) > 20000) { yawSpinDetected = false;