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mc_pos_control: always use fabsf and not fabs

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This commit is contained in:
Julian Oes
2016-11-21 15:56:46 +01:00
committed by Lorenz Meier
parent e01eaf172a
commit c64b8c7095
1 changed files with 3 additions and 3 deletions
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6
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -1107,8 +1107,8 @@ MulticopterPositionControl::control_non_manual(float dt)
ft_vel.zero();
}
_vel_sp(0) = fabs(ft_vel(0)) > fabs(_vel_sp(0)) ? ft_vel(0) : _vel_sp(0);
_vel_sp(1) = fabs(ft_vel(1)) > fabs(_vel_sp(1)) ? ft_vel(1) : _vel_sp(1);
_vel_sp(0) = fabsf(ft_vel(0)) > fabsf(_vel_sp(0)) ? ft_vel(0) : _vel_sp(0);
_vel_sp(1) = fabsf(ft_vel(1)) > fabsf(_vel_sp(1)) ? ft_vel(1) : _vel_sp(1);
// track target using velocity only
@@ -1837,7 +1837,7 @@ MulticopterPositionControl::control_position(float dt)
/* descend stabilized, we're landing */
if (!_in_landing && !_lnd_reached_ground
&& (float)fabs(_acc_z_lp) < 0.1f
&& (float)fabsf(_acc_z_lp) < 0.1f
&& _vel_z_lp > 0.5f * _params.land_speed) {
_in_landing = true;
}