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AP_NavEKF: Fix compiler warning messages

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priseborough 2015-01-01 15:19:07 +11:00
parent 3e3dd9d695
commit 76d1378962
1 changed files with 4 additions and 5 deletions
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9
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -2975,9 +2975,8 @@ void NavEKF::FuseOptFlow()
Kfusion[20] = SK_LOS[0]*(P[20][0]*tempVar[1] + P[20][1]*tempVar[2] - P[20][2]*tempVar[3] + P[20][3]*tempVar[4] + P[20][5]*tempVar[5] - P[20][6]*tempVar[6] - P[20][9]*tempVar[7] + P[20][4]*tempVar[8]); Kfusion[20] = SK_LOS[0]*(P[20][0]*tempVar[1] + P[20][1]*tempVar[2] - P[20][2]*tempVar[3] + P[20][3]*tempVar[4] + P[20][5]*tempVar[5] - P[20][6]*tempVar[6] - P[20][9]*tempVar[7] + P[20][4]*tempVar[8]);
Kfusion[21] = SK_LOS[0]*(P[21][0]*tempVar[1] + P[21][1]*tempVar[2] - P[21][2]*tempVar[3] + P[21][3]*tempVar[4] + P[21][5]*tempVar[5] - P[21][6]*tempVar[6] - P[21][9]*tempVar[7] + P[21][4]*tempVar[8]); Kfusion[21] = SK_LOS[0]*(P[21][0]*tempVar[1] + P[21][1]*tempVar[2] - P[21][2]*tempVar[3] + P[21][3]*tempVar[4] + P[21][5]*tempVar[5] - P[21][6]*tempVar[6] - P[21][9]*tempVar[7] + P[21][4]*tempVar[8]);
} else { } else {
for (uint8_t i = 16; i <= 21; i++) { memset(&H_LOS[0], 0, sizeof(H_LOS));
Kfusion[i] = 0.0f; memset(&Kfusion[0], 0, sizeof(Kfusion));
}
} }
// calculate variance and innovation for Y observation // calculate variance and innovation for Y observation
@ -3556,7 +3555,7 @@ bool NavEKF::getPosNED(Vector3f &pos) const
// return body axis gyro bias estimates in rad/sec // return body axis gyro bias estimates in rad/sec
void NavEKF::getGyroBias(Vector3f &gyroBias) const void NavEKF::getGyroBias(Vector3f &gyroBias) const
{ {
if (dtIMU == 0) { if (dtIMU < 1e-6f) {
gyroBias.zero(); gyroBias.zero();
return; return;
} }
@ -3618,7 +3617,7 @@ void NavEKF::getIMU1Weighting(float &ret) const
// return the individual Z-accel bias estimates in m/s^2 // return the individual Z-accel bias estimates in m/s^2
void NavEKF::getAccelZBias(float &zbias1, float &zbias2) const { void NavEKF::getAccelZBias(float &zbias1, float &zbias2) const {
if (dtIMU == 0) { if (dtIMU < 1e-6f) {
zbias1 = 0; zbias1 = 0;
zbias2 = 0; zbias2 = 0;
} else { } else {