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Fix compiler warnings

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This commit is contained in:
Don Gagne
2014-06-29 17:47:24 -07:00
parent 28a31708f9
commit 92adbe9216
45 changed files with 163 additions and 207 deletions
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src/modules/systemlib/mixer/mixer_multirotor.cpp
+1 -3
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@@ -208,7 +208,6 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
char geomname[8];
int s[4];
int used;
const char *end = buf + buflen;
/* enforce that the mixer ends with space or a new line */
for (int i = buflen - 1; i >= 0; i--) {
@@ -302,7 +301,6 @@ MultirotorMixer::mix(float *outputs, unsigned space)
//lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
float min_out = 0.0f;
float max_out = 0.0f;
float scale_yaw = 1.0f;
/* perform initial mix pass yielding unbounded outputs, ignore yaw */
for (unsigned i = 0; i < _rotor_count; i++) {
@@ -327,7 +325,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
}
/* scale down roll/pitch controls if some outputs are negative, don't add yaw, keep total thrust */
if (min_out < 0.0) {
if (min_out < 0.0f) {
float scale_in = thrust / (thrust - min_out);
/* mix again with adjusted controls */