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AP_NavEKF: cleanup some build warnings

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Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
This commit is contained in:
Andrew Tridgell 2014-04-21 17:11:06 +10:00
parent c8c6e05a4a
commit 5acd17b843
2 changed files with 5 additions and 5 deletions
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8
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -339,7 +339,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
_gpsRetryTimeNoTAS = 10000; // GPS retry time without airspeed measurements (msec)
_hgtRetryTimeMode0 = 10000; // Height retry time with vertical velocity measurement (msec)
_hgtRetryTimeMode12 = 5000; // Height retry time without vertical velocity measurement (msec)
_magFailTimeLimit = 10000; // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec)
_magFailTimeLimit_ms = 10000; // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec)
_magVarRateScale = 0.05f; // scale factor applied to magnetometer variance due to angular rate
_gyroBiasNoiseScaler = 3.0f; // scale factor applied to gyro bias state process variance when on ground
_msecGpsAvg = 200; // average number of msec between GPS measurements
@ -665,7 +665,7 @@ void NavEKF::SelectVelPosFusion()
ResetVelocity();
StoreStatesReset();
}
} else if (hal.scheduler->millis() - lastFixTime_ms > _msecGpsAvg + 40) {
} else if (hal.scheduler->millis() - lastFixTime_ms > (uint32_t)(_msecGpsAvg + 40)) {
// Timeout fusion of GPS data if stale. Needed because we repeatedly fuse the same
// measurement until the next one arrives to provide a smoother output
fuseVelData = false;
@ -679,7 +679,7 @@ void NavEKF::SelectVelPosFusion()
newDataHgt = false;
// enable fusion
fuseHgtData = true;
} else if (hal.scheduler->millis() - lastHgtTime_ms > _msecHgtAvg + 40) {
} else if (hal.scheduler->millis() - lastHgtTime_ms > (uint32_t)(_msecHgtAvg + 40)) {
// timeout fusion of height data if stale. Needed because we repeatedly fuse the same
// measurement until the next one arrives to provide a smoother output
fuseHgtData = false;
@ -727,7 +727,7 @@ void NavEKF::SelectMagFusion()
if (magHealth) {
lastHealthyMagTime_ms = hal.scheduler->millis();
} else {
if ((hal.scheduler->millis() - lastHealthyMagTime_ms) > uint32_t(_magFailTimeLimit) && use_compass()) {
if ((hal.scheduler->millis() - lastHealthyMagTime_ms) > _magFailTimeLimit_ms && use_compass()) {
magTimeout = true;
} else {
magTimeout = false;

2
libraries/AP_NavEKF/AP_NavEKF.h
View File

@ -320,7 +320,7 @@ private:
AP_Int16 _gpsRetryTimeNoTAS; // GPS retry time following innovation consistency fail if no TAS measurements are used (msec)
AP_Int16 _hgtRetryTimeMode0; // height measurement retry time following innovation consistency fail if GPS fusion mode is = 0 (msec)
AP_Int16 _hgtRetryTimeMode12; // height measurement retry time following innovation consistency fail if GPS fusion mode is > 0 (msec)
AP_Int16 _magFailTimeLimit; // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec)
uint32_t _magFailTimeLimit_ms; // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec)
float _gyroBiasNoiseScaler; // scale factor applied to gyro bias state process variance when on ground
float _magVarRateScale; // scale factor applied to magnetometer variance due to angular rate
uint16_t _msecGpsAvg; // average number of msec between GPS measurements