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Fix compile warnings in estimator

This commit is contained in:
Lorenz Meier 2014-06-29 11:27:09 +02:00
parent 0a78206d71
commit 336fc2fcf5
1 changed files with 6 additions and 6 deletions
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12
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
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@ -49,11 +49,11 @@
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <float.h>
#define SENSOR_COMBINED_SUB
#include <drivers/drv_hrt.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
@ -146,7 +146,7 @@ public:
*
* @param debug Desired debug level - 0 to disable.
*/
int set_debuglevel(unsigned debug) { _debug = debug; }
int set_debuglevel(unsigned debug) { _debug = debug; return 0; }
private:
@ -1256,9 +1256,9 @@ FixedwingEstimator::task_main()
float gps_dt = (_gps.timestamp_position - last_gps) / 1e6f;
// Calculate acceleration predicted by GPS velocity change
if ((_ekf->velNED[0] != _gps.vel_n_m_s ||
_ekf->velNED[1] != _gps.vel_e_m_s ||
_ekf->velNED[2] != _gps.vel_d_m_s) && (gps_dt > 0.00001f)) {
if (((fabsf(_ekf->velNED[0] - _gps.vel_n_m_s) > FLT_EPSILON) ||
(fabsf(_ekf->velNED[1] - _gps.vel_e_m_s) > FLT_EPSILON) ||
(fabsf(_ekf->velNED[2] - _gps.vel_d_m_s) > FLT_EPSILON)) && (gps_dt > 0.00001f)) {
_ekf->accelGPSNED[0] = (_ekf->velNED[0] - _gps.vel_n_m_s) / gps_dt;
_ekf->accelGPSNED[1] = (_ekf->velNED[1] - _gps.vel_e_m_s) / gps_dt;