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InertialSensor: fixed some compiler warnings

This commit is contained in:
Andrew Tridgell 2012-12-18 22:44:44 +11:00
parent b284d4c21e
commit 44f860e102
1 changed files with 1 additions and 4 deletions
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libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -243,9 +243,7 @@ bool AP_InertialSensor_MPU6000::update( void )
int32_t sum[7]; int32_t sum[7];
uint16_t count; uint16_t count;
float count_scale; float count_scale;
Vector3f gyro_offset = _gyro_offset.get();
Vector3f accel_scale = _accel_scale.get(); Vector3f accel_scale = _accel_scale.get();
Vector3f accel_offset = _accel_offset.get();
// wait for at least 1 sample // wait for at least 1 sample
uint32_t tstart = hal.scheduler->micros(); uint32_t tstart = hal.scheduler->micros();
@ -276,7 +274,7 @@ bool AP_InertialSensor_MPU6000::update( void )
_gyro.x = _gyro_scale * _gyro_data_sign[0] * sum[_gyro_data_index[0]] * count_scale; _gyro.x = _gyro_scale * _gyro_data_sign[0] * sum[_gyro_data_index[0]] * count_scale;
_gyro.y = _gyro_scale * _gyro_data_sign[1] * sum[_gyro_data_index[1]] * count_scale; _gyro.y = _gyro_scale * _gyro_data_sign[1] * sum[_gyro_data_index[1]] * count_scale;
_gyro.z = _gyro_scale * _gyro_data_sign[2] * sum[_gyro_data_index[2]] * count_scale; _gyro.z = _gyro_scale * _gyro_data_sign[2] * sum[_gyro_data_index[2]] * count_scale;
_gyro -= gyro_offset; _gyro -= _gyro_offset;
_accel.x = accel_scale.x * _accel_data_sign[0] * sum[_accel_data_index[0]] * count_scale * MPU6000_ACCEL_SCALE_1G; _accel.x = accel_scale.x * _accel_data_sign[0] * sum[_accel_data_index[0]] * count_scale * MPU6000_ACCEL_SCALE_1G;
_accel.y = accel_scale.y * _accel_data_sign[1] * sum[_accel_data_index[1]] * count_scale * MPU6000_ACCEL_SCALE_1G; _accel.y = accel_scale.y * _accel_data_sign[1] * sum[_accel_data_index[1]] * count_scale * MPU6000_ACCEL_SCALE_1G;
@ -357,7 +355,6 @@ void AP_InertialSensor_MPU6000::read(uint32_t)
uint8_t AP_InertialSensor_MPU6000::register_read( uint8_t reg ) uint8_t AP_InertialSensor_MPU6000::register_read( uint8_t reg )
{ {
uint8_t return_value;
uint8_t addr = reg | 0x80; // Set most significant bit uint8_t addr = reg | 0x80; // Set most significant bit
uint8_t tx[2]; uint8_t tx[2];