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EKF: Fix travis clang build error

This commit is contained in:
Paul Riseborough 2017-04-18 17:06:31 +10:00
parent c607941e2f
commit 1e393530ed
2 changed files with 4 additions and 4 deletions
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4
EKF/covariance.cpp
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@ -156,8 +156,8 @@ void Ekf::predictCovariance()
// inhibit learning of imu acccel bias if the manoeuvre levels are too high to protect against the effect of sensor nonlinearities or bad accel data is detected
float alpha = 1.0f - math::constrain((dt / _params.acc_bias_learn_tc), 0.0f, 1.0f);
_ang_rate_mag_filt = fmax(_imu_sample_delayed.delta_ang.norm(), alpha * _ang_rate_mag_filt);
_accel_mag_filt = fmax(_imu_sample_delayed.delta_vel.norm(), alpha * _accel_mag_filt);
_ang_rate_mag_filt = fmaxf(_imu_sample_delayed.delta_ang.norm(), alpha * _ang_rate_mag_filt);
_accel_mag_filt = fmaxf(_imu_sample_delayed.delta_vel.norm(), alpha * _accel_mag_filt);
if (_ang_rate_mag_filt > dt * _params.acc_bias_learn_gyr_lim
|| _accel_mag_filt > dt * _params.acc_bias_learn_acc_lim
|| _bad_vert_accel_detected) {

4
EKF/drag_fusion.cpp
View File

@ -94,7 +94,7 @@ void Ekf::fuseDrag()
// Estimate the derivative of specific force wrt airspeed along the X axis
// Limit lower value to prevent arithmetic exceptions
float Kacc = fmax(1e-1f,rho * BC_inv_x * airSpd);
float Kacc = fmaxf(1e-1f,rho * BC_inv_x * airSpd);
SH_ACC[0] = sq(q0) + sq(q1) - sq(q2) - sq(q3);
SH_ACC[1] = vn - vwn;
@ -164,7 +164,7 @@ void Ekf::fuseDrag()
// Estimate the derivative of specific force wrt airspeed along the X axis
// Limit lower value to prevent arithmetic exceptions
float Kacc = fmax(1e-1f,rho * BC_inv_y * airSpd);
float Kacc = fmaxf(1e-1f,rho * BC_inv_y * airSpd);
SH_ACC[0] = sq(q0) - sq(q1) + sq(q2) - sq(q3);
SH_ACC[1] = vn - vwn;