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INAV: use int for outputs

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Lorenz Meier
2014-11-22 16:32:05 +01:00
parent 685d3965a8
commit a36088b9c2
2 changed files with 8 additions and 7 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -2
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@@ -535,7 +535,7 @@ MulticopterPositionControl::reset_pos_sp()
- _params.vel_ff(0) * _sp_move_rate(0)) / _params.pos_p(0);
_pos_sp(1) = _pos(1) + (_vel(1) - _att_sp.R_body[1][2] * _att_sp.thrust / _params.vel_p(1)
- _params.vel_ff(1) * _sp_move_rate(1)) / _params.pos_p(1);
mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)_pos_sp(0), (double)_pos_sp(1));
mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %d, %d", (int)_pos_sp(0), (int)_pos_sp(1));
}
}
@@ -545,7 +545,7 @@ MulticopterPositionControl::reset_alt_sp()
if (_reset_alt_sp) {
_reset_alt_sp = false;
_pos_sp(2) = _pos(2) + (_vel(2) - _params.vel_ff(2) * _sp_move_rate(2)) / _params.pos_p(2);
mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %.2f", -(double)_pos_sp(2));
mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %d", -(int)_pos_sp(2));
}
}