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AP_InertialSensor: Added explicit casts to get rid of Qurt compiler warning about implicit casts

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Eric Katzfey 2024-11-14 12:23:38 -08:00 committed by Peter Barker
parent 6923c593d0
commit 115e5254d9
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor_ADIS1647x.cpp
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@ -171,22 +171,22 @@ bool AP_InertialSensor_ADIS1647x::check_product_id(uint16_t &prod_id)
opmode = OpMode::Delta32;
expected_sample_rate_hz = 1200;
accel_scale = 392.0 / 2097152000.0;
dvel_scale = 400.0 / 0x7FFFFFFF;
dvel_scale = 400.0 / (float)0x7FFFFFFF;
_clip_limit = (40.0f - 0.5f) * GRAVITY_MSS;
// RANG_MDL register used for gyro range
uint16_t rang_mdl = read_reg16(REG_RANG_MDL);
switch ((rang_mdl >> 2) & 3) {
case 0:
gyro_scale = radians(125) / 0x4E200000;
dangle_scale = radians(360.0 / 0x7FFFFFFF);
dangle_scale = radians(360.0 / (float)0x7FFFFFFF);
break;
case 1:
gyro_scale = radians(500) / 0x4E200000;
dangle_scale = radians(720.0 / 0x7FFFFFFF);
dangle_scale = radians(720.0 / (float)0x7FFFFFFF);
break;
case 3:
gyro_scale = radians(2000) / 0x4E200000;
dangle_scale = radians(2160.0 / 0x7FFFFFFF);
dangle_scale = radians(2160.0 / (float)0x7FFFFFFF);
break;
default:
return false;