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AP_IntertialSensor: double to float warning

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This commit is contained in:
Tom Pittenger 2015-05-01 22:21:12 -07:00 committed by Andrew Tridgell
parent bdda11b327
commit 3cb2221315
1 changed files with 7 additions and 6 deletions
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13
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -7,6 +7,7 @@
#include <AP_HAL.h>
#include <AP_Notify.h>
#include <AP_Vehicle.h>
#include <AP_Math.h>
/*
enable TIMING_DEBUG to track down scheduling issues with the main
@ -556,11 +557,11 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
bool success = _calibrate_accel(samples[k], new_offsets[k], new_scaling[k], saved_orientation);
interact->printf_P(PSTR("Offsets[%u]: %.2f %.2f %.2f\n"),
(unsigned)k,
new_offsets[k].x, new_offsets[k].y, new_offsets[k].z);
(unsigned)k,
(double)new_offsets[k].x, (double)new_offsets[k].y, (double)new_offsets[k].z);
interact->printf_P(PSTR("Scaling[%u]: %.2f %.2f %.2f\n"),
(unsigned)k,
new_scaling[k].x, new_scaling[k].y, new_scaling[k].z);
(double)new_scaling[k].x, (double)new_scaling[k].y, (double)new_scaling[k].z);
if (success) num_ok++;
}
@ -798,7 +799,7 @@ AP_InertialSensor::_init_gyro()
for (uint8_t k=0; k<num_gyros; k++) {
if (!converged[k]) {
hal.console->printf_P(PSTR("gyro[%u] did not converge: diff=%f dps\n"),
(unsigned)k, ToDeg(best_diff[k]));
(unsigned)k, (double)ToDeg(best_diff[k]));
_gyro_offset[k] = best_avg[k];
// flag calibration as failed for this gyro
_gyro_cal_ok[k] = false;
@ -859,7 +860,7 @@ bool AP_InertialSensor::_check_sample_range(const Vector3f accel_sample[6], enum
}
Vector3f range = max_sample - min_sample;
interact->printf_P(PSTR("AccelRange: %.1f %.1f %.1f"),
range.x, range.y, range.z);
(double)range.x, (double)range.y, (double)range.z);
bool ok = (range.x >= min_range &&
range.y >= min_range &&
range.z >= min_range);
@ -988,7 +989,7 @@ void AP_InertialSensor::_calibrate_find_delta(float dS[6], float JS[6][6], float
//eliminate all nonzero entries below JS[i][i]
for( j=i+1; j<6; j++ ) {
mu = JS[i][j]/JS[i][i];
if( mu != 0.0f ) {
if( !is_zero(mu) ) {
dS[j] -= mu*dS[i];
for( k=j; k<6; k++ ) {
JS[k][j] -= mu*JS[k][i];