From c4cadc9f3a5c3d36c8e6f0eeaedf100fc551636f Mon Sep 17 00:00:00 2001 From: yarreg Date: Tue, 11 Jun 2019 20:30:04 +0300 Subject: [PATCH] Fixed type casting in navigation_multicopter --- src/main/navigation/navigation_multicopter.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c index acc7e37d26..2762be675c 100755 --- a/src/main/navigation/navigation_multicopter.c +++ b/src/main/navigation/navigation_multicopter.c @@ -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;