aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_NavEKF: compiler warnings: float to double

Browse Source
This commit is contained in:
Tom Pittenger 2015-05-02 02:13:01 -07:00 committed by Andrew Tridgell
parent 3276eec30e
commit 9b53961a7d
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_NavEKF/AP_SmallEKF.cpp
View File

@ -859,7 +859,7 @@ float SmallEKF::calcMagHeadingInnov()
if (_main_ekf.healthy()) {
_main_ekf.getMagNED(earth_magfield);
_main_ekf.getMagXYZ(body_magfield);
declination = atan2(earth_magfield.y,earth_magfield.x);
declination = atan2f(earth_magfield.y,earth_magfield.x);
} else {
body_magfield.zero();
earth_magfield.zero();
@ -873,7 +873,7 @@ float SmallEKF::calcMagHeadingInnov()
Vector3f magMeasNED = Tmn*(magData - body_magfield);
// calculate the innovation where the predicted measurement is the angle wrt magnetic north of the horizontal component of the measured field
float innovation = atan2(magMeasNED.y,magMeasNED.x) - declination;
float innovation = atan2f(magMeasNED.y,magMeasNED.x) - declination;
// wrap the innovation so it sits on the range from +-pi
if (innovation > 3.1415927f) {
@ -910,7 +910,7 @@ void SmallEKF::getDebug(float &tilt, Vector3f &velocity, Vector3f &euler, Vector
tilt = TiltCorrection;
velocity = state.velocity;
state.quat.to_euler(euler.x, euler.y, euler.z);
if (dtIMU < 1.0e-6) {
if (dtIMU < 1.0e-6f) {
gyroBias.zero();
} else {
gyroBias = state.delAngBias / dtIMU;
@ -920,7 +920,7 @@ void SmallEKF::getDebug(float &tilt, Vector3f &velocity, Vector3f &euler, Vector
// get gyro bias data
void SmallEKF::getGyroBias(Vector3f &gyroBias) const
{
if (dtIMU < 1.0e-6) {
if (dtIMU < 1.0e-6f) {
gyroBias.zero();
} else {
gyroBias = state.delAngBias / dtIMU;