mc_pos_control: remove trailing zeroes

src/modules/mc_pos_control/PositionControl/ControlMath.cpp

@@ -83,15 +83,15 @@ void bodyzToAttitude(Vector3f body_z, const float yaw_sp, vehicle_attitude_setpo
 	Vector3f body_x = y_C % body_z;
 
 	// keep nose to front while inverted upside down
-	if (body_z(2) < 0.0f) {
+	if (body_z(2) < 0.f) {
 		body_x = -body_x;
 	}
 
 	if (fabsf(body_z(2)) < 0.000001f) {
 		// desired thrust is in XY plane, set X downside to construct correct matrix,
 		// but yaw component will not be used actually
 		body_x.zero();
-		body_x(2) = 1.0f;
+		body_x(2) = 1.f;
 	}
 
 	body_x.normalize();
@@ -201,7 +201,7 @@ bool cross_sphere_line(const Vector3f &sphere_c, const float sphere_r,
 		// we have triangle CDX with known CD and CX = R, find DX
 		float dx_len = sqrtf(sphere_r * sphere_r - cd_len * cd_len);
 
-		if ((sphere_c - line_b) * ab_norm > 0.0f) {
+		if ((sphere_c - line_b) * ab_norm > 0.f) {
 			// target waypoint is already behind us
 			res = line_b;
 
@@ -218,12 +218,12 @@ bool cross_sphere_line(const Vector3f &sphere_c, const float sphere_r,
 		res = d; // go directly to line
 
 		// previous waypoint is still in front of us
-		if ((sphere_c - line_a) * ab_norm < 0.0f) {
+		if ((sphere_c - line_a) * ab_norm < 0.f) {
 			res = line_a;
 		}
 
 		// target waypoint is already behind us
-		if ((sphere_c - line_b) * ab_norm > 0.0f) {
+		if ((sphere_c - line_b) * ab_norm > 0.f) {
 			res = line_b;
 		}
 

src/modules/mc_pos_control/PositionControl/PositionControl.cpp

@@ -152,8 +152,8 @@ void PositionControl::_velocityControl(const float dt)
 	_accelerationControl();
 
 	// Integrator anti-windup in vertical direction
-	if ((_thr_sp(2) >= -_lim_thr_min && vel_error(2) >= 0.0f) ||
-	    (_thr_sp(2) <= -_lim_thr_max && vel_error(2) <= 0.0f)) {
+	if ((_thr_sp(2) >= -_lim_thr_min && vel_error(2) >= 0.f) ||
+	    (_thr_sp(2) <= -_lim_thr_max && vel_error(2) <= 0.f)) {
 		vel_error(2) = 0.f;
 	}
 

src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp

@@ -46,7 +46,7 @@ TEST(TakeoffTest, RegularTakeoffRamp)
 {
 	TakeoffHandling takeoff;
 	takeoff.setSpoolupTime(1.f);
-	takeoff.setTakeoffRampTime(2.0);
+	takeoff.setTakeoffRampTime(2.f);
 	takeoff.generateInitialRampValue(CONSTANTS_ONE_G / 0.5f);
 
 	// disarmed, landed, don't want takeoff

src/modules/mc_pos_control/multicopter_autonomous_params.c

@@ -37,13 +37,13 @@
  * e.g. in Missions, RTL, Goto if the waypoint does not specify differently
  *
  * @unit m/s
- * @min 3.0
- * @max 20.0
+ * @min 3
+ * @max 20
  * @decimal 0
  * @increment 1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
+PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.f);
 
 /**
  * Ascent velocity in autonomous modes
@@ -52,7 +52,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
  *
  * @unit m/s
  * @min 0.5
- * @max 8.0
+ * @max 8
  * @decimal 1
  * @increment 0.5
  * @group Multicopter Position Control
@@ -66,7 +66,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f);
  *
  * @unit m/s
  * @min 0.5
- * @max 4.0
+ * @max 4
  * @decimal 1
  * @increment 0.5
  * @group Multicopter Position Control
@@ -79,13 +79,13 @@ PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
  * When piloting manually, this parameter is only used in MPC_POS_MODE 4.
  *
  * @unit m/s^2
- * @min 2.0
- * @max 15.0
+ * @min 2
+ * @max 15
  * @decimal 1
  * @increment 1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
+PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.f);
 
 /**
  * Jerk limit in autonomous modes
@@ -94,19 +94,19 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
  * A lower value leads to smoother vehicle motions but also limited agility.
  *
  * @unit m/s^3
- * @min 1.0
- * @max 80.0
+ * @min 1
+ * @max 80
  * @decimal 1
  * @increment 1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
+PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.f);
 
 /**
  * Proportional gain for horizontal trajectory position error
  *
  * @min 0.1
- * @max 1.0
+ * @max 1
  * @decimal 1
  * @increment 0.1
  * @group Multicopter Position Control
@@ -125,12 +125,12 @@ PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
  * capabilities of the vehicle.
  *
  * @min 0.1
- * @max 10.0
+ * @max 10
  * @decimal 1
  * @increment 1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f);
+PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.f);
 
 /**
  * Max yaw rate in autonomous modes
@@ -139,13 +139,13 @@ PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f);
  * control output and mixer saturation.
  *
  * @unit deg/s
- * @min 0.0
- * @max 360.0
+ * @min 0
+ * @max 360
  * @decimal 0
  * @increment 5
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
+PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.f);
 
 /**
  * Heading behavior in autonomous modes

src/modules/mc_pos_control/multicopter_position_control_gain_params.c

@@ -42,15 +42,15 @@
  * @increment 0.1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
+PARAM_DEFINE_FLOAT(MPC_Z_P, 1.f);
 
 /**
  * Proportional gain for horizontal position error
  *
  * Defined as corrective velocity in m/s per m position error
  *
- * @min 0.0
- * @max 2.0
+ * @min 0
+ * @max 2
  * @decimal 1
  * @increment 0.1
  * @group Multicopter Position Control
@@ -62,21 +62,21 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f);
  *
  * Defined as corrective acceleration in m/s^2 per m/s velocity error
  *
- * @min 2.0
- * @max 15.0
+ * @min 2
+ * @max 15
  * @decimal 1
  * @increment 0.1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.0f);
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.f);
 
 /**
  * Proportional gain for horizontal velocity error
  *
  * Defined as corrective acceleration in m/s^2 per m/s velocity error
  *
  * @min 1.2
- * @max 5.0
+ * @max 5
  * @decimal 1
  * @increment 0.1
  * @group Multicopter Position Control
@@ -89,21 +89,21 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f);
  * Defined as corrective acceleration in m/s^2 per m velocity integral
  *
  * @min 0.2
- * @max 3.0
+ * @max 3
  * @decimal 1
  * @increment 0.1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.0f);
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.f);
 
 /**
  * Integral gain for horizontal velocity error
  *
  * Defined as correction acceleration in m/s^2 per m velocity integral
  * Allows to eliminate steady state errors in disturbances like wind.
  *
- * @min 0.0
- * @max 60.0
+ * @min 0
+ * @max 60
  * @decimal 2
  * @increment 0.02
  * @group Multicopter Position Control
@@ -115,21 +115,21 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_I_ACC, 0.4f);
  *
  * Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative
  *
- * @min 0.0
- * @max 2.0
+ * @min 0
+ * @max 2
  * @decimal 2
  * @increment 0.02
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.0f);
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.f);
 
 /**
  * Differential gain for horizontal velocity error
  *
  * Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative
  *
  * @min 0.1
- * @max 2.0
+ * @max 2
  * @decimal 2
  * @increment 0.02
  * @group Multicopter Position Control

src/modules/mc_pos_control/multicopter_position_control_limits_params.c

@@ -38,13 +38,13 @@
  * Any higher value is truncated.
  *
  * @unit m/s
- * @min 0.0
- * @max 20.0
+ * @min 0
+ * @max 20
  * @decimal 0
  * @increment 1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.f);
 
 /**
  * Maximum tilt angle in air
@@ -53,27 +53,27 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
  * Any higher value is truncated.
  *
  * @unit deg
- * @min 20.0
- * @max 89.0
+ * @min 20
+ * @max 89
  * @decimal 0
  * @increment 1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
+PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.f);
 
 /**
  * Maximum tilt during inital takeoff ramp
  *
  * Tighter tilt limit during takeoff to avoid tip over.
  *
  * @unit deg
- * @min 5.0
- * @max 89.0
+ * @min 5
+ * @max 89
  * @decimal 0
  * @increment 1
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
+PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.f);
 
 /**
  * Minimum collective thrust in climb rate controlled modes
@@ -96,10 +96,10 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
  * Limit allowed thrust e.g. for indoor test of overpowered vehicle.
  *
  * @unit norm
- * @min 0.0
- * @max 1.0
+ * @min 0
+ * @max 1
  * @decimal 2
  * @increment 0.05
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
+PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.f);