Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-24 01:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_InertialSensor: replace sqrt with safe_sqrt to resolve compiler warning

Browse Source 
Also add suppressing comment for missing break at end of switch
This commit is contained in:
Randy Mackay 2016-01-23 10:10:17 +09:00
parent 82322144ee
commit 081beacb8d
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -1334,7 +1334,7 @@ void AP_InertialSensor::_acal_save_calibrations()
// determine trim from aligned sample vs misaligned sample // determine trim from aligned sample vs misaligned sample
Vector3f cross = (misaligned_sample%aligned_sample); Vector3f cross = (misaligned_sample%aligned_sample);
float dot = (misaligned_sample*aligned_sample); float dot = (misaligned_sample*aligned_sample);
Quaternion q(sqrt(sq(misaligned_sample.length())*sq(aligned_sample.length()))+dot, cross.x, cross.y, cross.z); Quaternion q(safe_sqrt(sq(misaligned_sample.length())*sq(aligned_sample.length()))+dot, cross.x, cross.y, cross.z);
q.normalize(); q.normalize();
_trim_roll = q.get_euler_roll(); _trim_roll = q.get_euler_roll();
_trim_pitch = q.get_euler_pitch(); _trim_pitch = q.get_euler_pitch();
@ -1343,7 +1343,7 @@ void AP_InertialSensor::_acal_save_calibrations()
break; break;
default: default:
_new_trim = false; _new_trim = false;
//noop /* no break */
} }
if (fabsf(_trim_roll) > radians(10) || if (fabsf(_trim_roll) > radians(10) ||