philip/MDH-UAV-Control-System
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Cast Ints to float in constrainf. What happens if we return an int on a function which returns a float? Just to be sure

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mdhsweden 2016-10-31 18:30:09 +01:00
parent 3039f3a394
commit 4b7fd40967
1 changed files with 5 additions and 5 deletions
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10
UAV-ControlSystem/src/Flight/pid.c
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@ -1,6 +1,6 @@
/************************************************************************** /**************************************************************************
* NAME: pid.c * * NAME: pid.c *
* AUTHOR: Johan Gärtner * * AUTHOR: Johan G<EFBFBD>rtner *
* *
* PURPOSE: This file contains pid functions * * PURPOSE: This file contains pid functions *
* INFORMATION: pidUAV is the final pid controller which only takes * * INFORMATION: pidUAV is the final pid controller which only takes *
@ -114,9 +114,9 @@ float convertData(int inputRange, int outputRange, int offset, float value)
float constrainf(float amt, int low, int high) float constrainf(float amt, int low, int high)
{ {
if (amt < low) if (amt < low)
return low; return (float)low;
else if (amt > high) else if (amt > high)
return high; return (float)high;
else else
return amt; return amt;
} }
@ -469,7 +469,7 @@ void pidUAVInitBuff(pidProfileBuff_t *pidProfile, uint8_t ID)
case PID_ID_GYRO: case PID_ID_GYRO:
PidProfileBuff[ID].DOF = 3; PidProfileBuff[ID].DOF = 3;
PidProfileBuff[ID].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000000; //ÄNDRA TILL SEKUNDER inte ms PidProfileBuff[ID].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000000; //<EFBFBD>NDRA TILL SEKUNDER inte ms
break; break;
case PID_ID_ACCELEROMETER: case PID_ID_ACCELEROMETER:
@ -631,7 +631,7 @@ void pidEproom(void)
PidProfile[PID_ID_ACCELEROMETER].PIDweight[PITCH] = 2; PidProfile[PID_ID_ACCELEROMETER].PIDweight[PITCH] = 2;
PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100; PidProfile[PID_ID_ACCELEROMETER].PIDweight[YAW] = 100;
PidProfileBuff[PID_ID_GYRO].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000000; //ÄNDRA TILL SEKUNDER inte ms PidProfileBuff[PID_ID_GYRO].dT = SystemTasks[TASK_GYROPID].desiredPeriod/1000000; //<EFBFBD>NDRA TILL SEKUNDER inte ms
PidProfileBuff[PID_ID_ACCELEROMETER].dT = SystemTasks[TASK_ACCELEROMETER].desiredPeriod/1000000; PidProfileBuff[PID_ID_ACCELEROMETER].dT = SystemTasks[TASK_ACCELEROMETER].desiredPeriod/1000000;
PidProfileBuff[PID_ID_COMPASS].dT = SystemTasks[TASK_COMPASS].desiredPeriod/1000000; PidProfileBuff[PID_ID_COMPASS].dT = SystemTasks[TASK_COMPASS].desiredPeriod/1000000;
PidProfileBuff[PID_ID_BAROMETER].dT = SystemTasks[TASK_BARO].desiredPeriod/1000000; PidProfileBuff[PID_ID_BAROMETER].dT = SystemTasks[TASK_BARO].desiredPeriod/1000000;