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Merge pull request #4824 from yarreg/bugfix/navigation-type-cast

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Type casting in navigation_multicopter.c
This commit is contained in:
Konstantin Sharlaimov 2019-06-11 21:58:23 +02:00 • committed by GitHub
commit 206bc8bf60
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1 changed files with 4 additions and 4 deletions
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8
src/main/navigation/navigation_multicopter.c
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@ -140,11 +140,11 @@ bool adjustMulticopterAltitudeFromRCInput(void)
// Make sure we can satisfy max_manual_climb_rate in both up and down directions
if (rcThrottleAdjustment > 0) {
// Scaling from altHoldThrottleRCZero to maxthrottle
rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (motorConfig()->maxthrottle - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (float)(motorConfig()->maxthrottle - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
}
else {
// Scaling from minthrottle to altHoldThrottleRCZero
rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (altHoldThrottleRCZero - motorConfig()->minthrottle - rcControlsConfig()->alt_hold_deadband);
rcClimbRate = rcThrottleAdjustment * navConfig()->general.max_manual_climb_rate / (float)(altHoldThrottleRCZero - motorConfig()->minthrottle - rcControlsConfig()->alt_hold_deadband);
}
updateClimbRateToAltitudeController(rcClimbRate, ROC_TO_ALT_NORMAL);
@ -387,8 +387,8 @@ bool adjustMulticopterPositionFromRCInput(int16_t rcPitchAdjustment, int16_t rcR
if (rcPitchAdjustment || rcRollAdjustment) {
// If mode is GPS_CRUISE, move target position, otherwise POS controller will passthru the RC input to ANGLE PID
if (navConfig()->general.flags.user_control_mode == NAV_GPS_CRUISE) {
const float rcVelX = rcPitchAdjustment * navConfig()->general.max_manual_speed / (500 - rcControlsConfig()->pos_hold_deadband);
const float rcVelY = rcRollAdjustment * navConfig()->general.max_manual_speed / (500 - rcControlsConfig()->pos_hold_deadband);
const float rcVelX = rcPitchAdjustment * navConfig()->general.max_manual_speed / (float)(500 - rcControlsConfig()->pos_hold_deadband);
const float rcVelY = rcRollAdjustment * navConfig()->general.max_manual_speed / (float)(500 - rcControlsConfig()->pos_hold_deadband);
// Rotate these velocities from body frame to to earth frame
const float neuVelX = rcVelX * posControl.actualState.cosYaw - rcVelY * posControl.actualState.sinYaw;