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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-31 15:49:01 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-31 15:49:01 +0100 |
| commit | 8dcde7f8cd72e73ced0ea534a84257ef43210ab6 (patch) | |
| tree | 86510b5544ec2b5d53b9c2a9cae940c44f51ff23 /apps/systemlib/pid | |
| parent | 939fc83c4ad0bf299db35b7ec0c44dee47f3d033 (diff) | |
| download | px4-firmware-8dcde7f8cd72e73ced0ea534a84257ef43210ab6.tar.gz px4-firmware-8dcde7f8cd72e73ced0ea534a84257ef43210ab6.tar.bz2 px4-firmware-8dcde7f8cd72e73ced0ea534a84257ef43210ab6.zip | |
prevent double-precision promotion where its not required
Diffstat (limited to 'apps/systemlib/pid')
| -rw-r--r-- | apps/systemlib/pid/pid.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c index 7e277cdc7..0358caa25 100644 --- a/apps/systemlib/pid/pid.c +++ b/apps/systemlib/pid/pid.c @@ -155,8 +155,8 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo // Calculate the error integral and check for saturation i = pid->integral + (error * dt); - if (fabs((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit || - fabs(i) > pid->intmax) { + if (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit || + fabsf(i) > pid->intmax) { i = pid->integral; // If saturated then do not update integral value pid->saturated = 1; |