fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 04:41:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw att ctrl: resolve warnings

Browse Source
This commit is contained in:
Thomas Gubler
2014-06-29 12:51:40 +02:00
parent e84cab86ab
commit 8d1ed164cb
3 changed files with 1 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
-3
View File
@@ -151,9 +151,6 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
if (dt_micros > 500000) if (dt_micros > 500000)
lock_integrator = true; lock_integrator = true;
// float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_ff = 0;
/* input conditioning */ /* input conditioning */
if (!isfinite(airspeed)) { if (!isfinite(airspeed)) {
/* airspeed is NaN, +- INF or not available, pick center of band */ /* airspeed is NaN, +- INF or not available, pick center of band */
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
-3
View File
@@ -114,9 +114,6 @@ float ECL_RollController::control_bodyrate(float pitch,
if (dt_micros > 500000) if (dt_micros > 500000)
lock_integrator = true; lock_integrator = true;
// float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_ff = 0; //xxx: param
/* input conditioning */ /* input conditioning */
// warnx("airspeed pre %.4f", (double)airspeed); // warnx("airspeed pre %.4f", (double)airspeed);
if (!isfinite(airspeed)) { if (!isfinite(airspeed)) {
src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+1 -6
View File
@@ -84,7 +84,7 @@ float ECL_YawController::control_attitude(float roll, float pitch,
_rate_setpoint = 0.0f; _rate_setpoint = 0.0f;
if (sqrtf(speed_body_u * speed_body_u + speed_body_v * speed_body_v + speed_body_w * speed_body_w) > _coordinated_min_speed) { if (sqrtf(speed_body_u * speed_body_u + speed_body_v * speed_body_v + speed_body_w * speed_body_w) > _coordinated_min_speed) {
float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch)); float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch));
if(denumerator != 0.0f) { //XXX: floating point comparison if(fabsf(denumerator) > FLT_EPSILON) {
_rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator; _rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator;
// warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint); // warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint);
} }
@@ -132,11 +132,6 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
if (dt_micros > 500000) if (dt_micros > 500000)
lock_integrator = true; lock_integrator = true;
// float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_ff = 0;
/* input conditioning */ /* input conditioning */
if (!isfinite(airspeed)) { if (!isfinite(airspeed)) {
/* airspeed is NaN, +- INF or not available, pick center of band */ /* airspeed is NaN, +- INF or not available, pick center of band */