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AP_AHRS: example fix travis warning

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missing function declaration
implicit cast
some style fix
This commit is contained in:
Pierre Kancir 2017-04-13 13:29:38 +02:00 committed by Francisco Ferreira
parent 320c5e1b96
commit fede727d38
1 changed files with 12 additions and 13 deletions
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25
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
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@ -8,6 +8,9 @@
#include <AP_BoardConfig/AP_BoardConfig.h> #include <AP_BoardConfig/AP_BoardConfig.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
void setup();
void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL(); const AP_HAL::HAL& hal = AP_HAL::get_HAL();
// INS and Baro declaration // INS and Baro declaration
@ -34,10 +37,6 @@ static DummyVehicle vehicle;
// AP_AHRS_DCM ahrs(ins, baro, gps); // AP_AHRS_DCM ahrs(ins, baro, gps);
AP_AHRS_NavEKF ahrs(vehicle.ahrs); AP_AHRS_NavEKF ahrs(vehicle.ahrs);
#define HIGH 1
#define LOW 0
void setup(void) void setup(void)
{ {
AP_BoardConfig{}.init(); AP_BoardConfig{}.init();
@ -68,7 +67,7 @@ void loop(void)
} }
last_t = now; last_t = now;
if (now - last_compass > 100*1000UL && if (now - last_compass > 100 * 1000UL &&
compass.read()) { compass.read()) {
heading = compass.calculate_heading(ahrs.get_rotation_body_to_ned()); heading = compass.calculate_heading(ahrs.get_rotation_body_to_ned());
// read compass at 10Hz // read compass at 10Hz
@ -83,14 +82,14 @@ void loop(void)
hal.console->printf( hal.console->printf(
"r:%4.1f p:%4.1f y:%4.1f " "r:%4.1f p:%4.1f y:%4.1f "
"drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n", "drift=(%5.1f %5.1f %5.1f) hdg=%.1f rate=%.1f\n",
ToDeg(ahrs.roll), (double)ToDeg(ahrs.roll),
ToDeg(ahrs.pitch), (double)ToDeg(ahrs.pitch),
ToDeg(ahrs.yaw), (double)ToDeg(ahrs.yaw),
ToDeg(drift.x), (double)ToDeg(drift.x),
ToDeg(drift.y), (double)ToDeg(drift.y),
ToDeg(drift.z), (double)ToDeg(drift.z),
compass.use_for_yaw() ? ToDeg(heading) : 0.0f, (double)(compass.use_for_yaw() ? ToDeg(heading) : 0.0f),
(1.0e6f*counter)/(now-last_print)); (double)((1.0e6f * counter) / (now-last_print)));
last_print = now; last_print = now;
counter = 0; counter = 0;
} }