Fixed default gear ratio value precision

firmware/src/BSP/actuator_config.c

@@ -29,8 +29,8 @@ float volatile gearing_ratio;
 float volatile actuatorTq_to_current;
 float volatile current_to_actuatorTq;
 
-//todo move these parameters to NVRAM
-//specify motor parameters here:
+// todo move these parameters to NVRAM
+// specify motor parameters here:
 const uint16_t rated_current = 1300; //mA
 const uint16_t rated_torque = 45;   //cNm
 
@@ -39,9 +39,9 @@ const uint16_t phase_L = 3; //Henry
 const uint16_t motor_k_bemf = 1765; // mV/(rev/s)
 
 
-//specify gearing parameters here:
-const float motor_gearbox_ratio = 5+2/11; //gearbox ratio - enter planetary gearbox tooth calculation for best accuracy
-const float final_drive_ratio = 2; //assembly gearing ratio
+// specify gearing parameters here:
+const float motor_gearbox_ratio = 5.0F+(2.0F/11.0F); // gearbox ratio - enter planetary gearbox tooth calculation for best accuracy
+const float final_drive_ratio = 2.0F;            // assembly gearing ratio
 
 const int8_t anticogging_factor = 30; //minimizes cogging under load (0-127)
 
@@ -51,6 +51,6 @@ void update_actuator_parameters(void){
     actuatorTq_to_current = (float) rated_current / rated_torque * 100 / gearing_ratio;
     current_to_actuatorTq = 1 / actuatorTq_to_current;
 
-    closeLoopMaxDes = 2000U; //sets maximum close loop current [mA] to limit stresses and heat generation
+     closeLoopMaxDes = 2000U; // posiiton control maximum close loop current [mA] to limit stresses and heat generation
 
 }