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Merge pull request #7435 from etracer65/use_fabsf_for_floats

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Use fabsf() instead of ABS() for floats
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Michael Keller 2019-01-21 11:34:47 +13:00 • committed by GitHub
commit aaad98ecc3
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8 changed files with 23 additions and 22 deletions
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20
src/main/flight/pid.c
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@ -802,7 +802,7 @@ static float accelerationLimit(int axis, float currentPidSetpoint)
static float previousSetpoint[XYZ_AXIS_COUNT];
const float currentVelocity = currentPidSetpoint - previousSetpoint[axis];
if (ABS(currentVelocity) > maxVelocity[axis]) {
if (fabsf(currentVelocity) > maxVelocity[axis]) {
currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis];
}
@ -836,9 +836,9 @@ static void handleCrashRecovery(
pidData[axis].I = 0.0f;
if (cmpTimeUs(currentTimeUs, crashDetectedAtUs) > crashTimeLimitUs
|| (getMotorMixRange() < 1.0f
&& ABS(gyro.gyroADCf[FD_ROLL]) < crashRecoveryRate
&& ABS(gyro.gyroADCf[FD_PITCH]) < crashRecoveryRate
&& ABS(gyro.gyroADCf[FD_YAW]) < crashRecoveryRate)) {
&& fabsf(gyro.gyroADCf[FD_ROLL]) < crashRecoveryRate
&& fabsf(gyro.gyroADCf[FD_PITCH]) < crashRecoveryRate
&& fabsf(gyro.gyroADCf[FD_YAW]) < crashRecoveryRate)) {
if (sensors(SENSOR_ACC)) {
// check aircraft nearly level
if (ABS(attitude.raw[FD_ROLL] - angleTrim->raw[FD_ROLL]) < crashRecoveryAngleDeciDegrees
@ -863,14 +863,14 @@ static void detectAndSetCrashRecovery(
if ((crash_recovery || FLIGHT_MODE(GPS_RESCUE_MODE)) && !gyroOverflowDetected()) {
if (ARMING_FLAG(ARMED)) {
if (getMotorMixRange() >= 1.0f && !inCrashRecoveryMode
&& ABS(delta) > crashDtermThreshold
&& ABS(errorRate) > crashGyroThreshold
&& ABS(getSetpointRate(axis)) < crashSetpointThreshold) {
&& fabsf(delta) > crashDtermThreshold
&& fabsf(errorRate) > crashGyroThreshold
&& fabsf(getSetpointRate(axis)) < crashSetpointThreshold) {
inCrashRecoveryMode = true;
crashDetectedAtUs = currentTimeUs;
}
if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (ABS(errorRate) < crashGyroThreshold
|| ABS(getSetpointRate(axis)) > crashSetpointThreshold)) {
if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (fabsf(errorRate) < crashGyroThreshold
|| fabsf(getSetpointRate(axis)) > crashSetpointThreshold)) {
inCrashRecoveryMode = false;
BEEP_OFF;
}
@ -1027,7 +1027,7 @@ void FAST_CODE applySmartFeedforward(int axis)
{
if (smartFeedforward) {
if (pidData[axis].P * pidData[axis].F > 0) {
if (ABS(pidData[axis].F) > ABS(pidData[axis].P)) {
if (fabsf(pidData[axis].F) > fabsf(pidData[axis].P)) {
pidData[axis].P = 0;
} else {
pidData[axis].F = 0;