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Fixed instances of int functions being used in float expression… (#9009)

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Fixed instances of int functions being used in float expressions.
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Michael Keller 2019-10-10 00:53:34 +13:00 • committed by GitHub
commit 8c5efcdb29
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1 changed files with 7 additions and 7 deletions
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14
src/main/sensors/gyro.c
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@ -910,9 +910,9 @@ static FAST_CODE_NOINLINE void handleOverflow(timeUs_t currentTimeUs)
// after both sensors are scaled and averaged. // after both sensors are scaled and averaged.
const float gyroOverflowResetRate = GYRO_OVERFLOW_RESET_THRESHOLD * gyro.scale; const float gyroOverflowResetRate = GYRO_OVERFLOW_RESET_THRESHOLD * gyro.scale;
if ((abs(gyro.gyroADCf[X]) < gyroOverflowResetRate) if ((fabsf(gyro.gyroADCf[X]) < gyroOverflowResetRate)
&& (abs(gyro.gyroADCf[Y]) < gyroOverflowResetRate) && (fabsf(gyro.gyroADCf[Y]) < gyroOverflowResetRate)
&& (abs(gyro.gyroADCf[Z]) < 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 // 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 // reset requires good OK values on all axes
if (cmpTimeUs(currentTimeUs, overflowTimeUs) > 50000) { if (cmpTimeUs(currentTimeUs, overflowTimeUs) > 50000) {
@ -943,13 +943,13 @@ static FAST_CODE void checkForOverflow(timeUs_t currentTimeUs)
// after both sensors are scaled and averaged. // after both sensors are scaled and averaged.
const float gyroOverflowTriggerRate = GYRO_OVERFLOW_TRIGGER_THRESHOLD * gyro.scale; 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; overflowCheck |= GYRO_OVERFLOW_X;
} }
if (abs(gyro.gyroADCf[Y]) > gyroOverflowTriggerRate) { if (fabsf(gyro.gyroADCf[Y]) > gyroOverflowTriggerRate) {
overflowCheck |= GYRO_OVERFLOW_Y; overflowCheck |= GYRO_OVERFLOW_Y;
} }
if (abs(gyro.gyroADCf[Z]) > gyroOverflowTriggerRate) { if (fabsf(gyro.gyroADCf[Z]) > gyroOverflowTriggerRate) {
overflowCheck |= GYRO_OVERFLOW_Z; overflowCheck |= GYRO_OVERFLOW_Z;
} }
if (overflowCheck & overflowAxisMask) { if (overflowCheck & overflowAxisMask) {
@ -968,7 +968,7 @@ static FAST_CODE void checkForOverflow(timeUs_t currentTimeUs)
static FAST_CODE_NOINLINE void handleYawSpin(timeUs_t currentTimeUs) static FAST_CODE_NOINLINE void handleYawSpin(timeUs_t currentTimeUs)
{ {
const float yawSpinResetRate = gyroConfig()->yaw_spin_threshold - 100.0f; 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 // testing whether 20ms of consecutive OK gyro yaw values is enough
if (cmpTimeUs(currentTimeUs, yawSpinTimeUs) > 20000) { if (cmpTimeUs(currentTimeUs, yawSpinTimeUs) > 20000) {
yawSpinDetected = false; yawSpinDetected = false;