Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 13:25:30 +03:00
Code Issues Wiki Activity

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

Browse source 
Fixed instances of int functions being used in float expressions.
This commit is contained in:
Michael Keller 2019-10-10 00:53:34 +13:00 • committed by GitHub
commit 8c5efcdb29
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 7 additions and 7 deletions
Download patch file Download diff file Expand all files Collapse all files

14
src/main/sensors/gyro.c
View file

@ -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;