From 65e4a4ab9442afedf91696e10ea7b5a88b822d00 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p-riseborough@live.com.au>
Date: Fri, 6 Nov 2015 14:11:22 +1100
Subject: [PATCH] AP_NavEKF2: Use correct casting of integers when printing

Changes in response to review comments
---
 libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index ac0eaadcba..793c71f5e2 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -123,7 +123,7 @@ void NavEKF2_core::setAidingMode()
             stateStruct.position.z = -meaHgtAtTakeOff;
         } else if (frontend->_fusionModeGPS == 3) {
             // We have commenced aiding, but GPS useage has been prohibited so use optical flow only
-            hal.console->printf("EKF2 IMU%i is using optical flow\n",imu_index);
+            hal.console->printf("EKF2 IMU%u is using optical flow\n",(unsigned)imu_index);
             PV_AidingMode = AID_RELATIVE; // we have optical flow data and can estimate all vehicle states
             posTimeout = true;
             velTimeout = true;
@@ -133,7 +133,7 @@ void NavEKF2_core::setAidingMode()
             prevFlowFuseTime_ms = imuSampleTime_ms;
         } else {
             // We have commenced aiding and GPS useage is allowed
-            hal.console->printf("EKF2 IMU%i is using GPS\n",imu_index);
+            hal.console->printf("EKF2 IMU%u is using GPS\n",(unsigned)imu_index);
             PV_AidingMode = AID_ABSOLUTE; // we have GPS data and can estimate all vehicle states
             posTimeout = false;
             velTimeout = false;
@@ -169,7 +169,7 @@ void NavEKF2_core::checkAttitudeAlignmentStatus()
     tiltErrFilt = alpha*temp + (1.0f-alpha)*tiltErrFilt;
     if (tiltErrFilt < 0.005f && !tiltAlignComplete) {
         tiltAlignComplete = true;
-        hal.console->printf("EKF2 IMU%i tilt alignment complete\n",imu_index);
+        hal.console->printf("EKF2 IMU%u tilt alignment complete\n",(unsigned)imu_index);
     }
 
     // Once tilt has converged, align yaw using magnetic field measurements
@@ -179,7 +179,7 @@ void NavEKF2_core::checkAttitudeAlignmentStatus()
         stateStruct.quat = calcQuatAndFieldStates(eulerAngles.x, eulerAngles.y);
         StoreQuatReset();
         yawAlignComplete = true;
-        hal.console->printf("EKF2 IMU%i yaw alignment complete\n",imu_index);
+        hal.console->printf("EKF2 IMU%u yaw alignment complete\n",(unsigned)imu_index);
     }
 }
 
@@ -244,7 +244,7 @@ void NavEKF2_core::setOrigin()
     // define Earth rotation vector in the NED navigation frame at the origin
     calcEarthRateNED(earthRateNED, _ahrs->get_home().lat);
     validOrigin = true;
-    hal.console->printf("EKF2 IMU%i Origin Set\n",imu_index);
+    hal.console->printf("EKF2 IMU%u Origin Set\n",(unsigned)imu_index);
 }
 
 // Commands the EKF to not use GPS.