Copter: Change the variable type to INT

[muramura]

A FLOAT value is being compared using the INT type. Therefore, it will be changed to INT type.

[peterbarker]

I did consider doing in this way.

I think there's scope for printing partial circles if you are circling slowly, which is why I went with float here.

[muramura]

The number of rotations must be an integer. For example, 0.5 rotations cannot be specified.

0.99 is 0
1.01 is 1
1.99 is 1

This condition returns TRUE when the specified number of times or more has been reached.

return num_circles_completed >= turns;

https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Mission/AP_Mission.cpp#L1109

[peterbarker]

The number of rotations must be an integer. For example, 0.5 rotations cannot be specified.

Are you sure? Have you tested that? We are supposed to handle fractional turns:

        float get_loiter_turns(void) const {
            float turns = LOWBYTE(p1);
            if (type_specific_bits & (1U<<1)) {
                // special storage handling allows for fractional turns
                turns *= (1.0/256.0);
            }
            return turns;
        }