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AP_NavEKF3: use single precision ceilf()

This commit is contained in:
Andrew Tridgell 2018-05-04 14:37:20 +10:00
parent 4404c95cc8
commit 553abda91c
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -101,7 +101,7 @@ bool NavEKF3_core::setup_core(NavEKF3 *_frontend, uint8_t _imu_index, uint8_t _c
// set the observation buffer length to handle the minimum time of arrival between observations in combination // set the observation buffer length to handle the minimum time of arrival between observations in combination
// with the worst case delay from current time to ekf fusion time // with the worst case delay from current time to ekf fusion time
// allow for worst case 50% extension of the ekf fusion time horizon delay due to timing jitter // allow for worst case 50% extension of the ekf fusion time horizon delay due to timing jitter
uint16_t ekf_delay_ms = maxTimeDelay_ms + (int)(ceil((float)maxTimeDelay_ms * 0.5f)); uint16_t ekf_delay_ms = maxTimeDelay_ms + (int)(ceilf((float)maxTimeDelay_ms * 0.5f));
obs_buffer_length = (ekf_delay_ms / _frontend->sensorIntervalMin_ms) + 1; obs_buffer_length = (ekf_delay_ms / _frontend->sensorIntervalMin_ms) + 1;
// limit to be no longer than the IMU buffer (we can't process data faster than the EKF prediction rate) // limit to be no longer than the IMU buffer (we can't process data faster than the EKF prediction rate)