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Fix warnings, use more efficient atan2f where it can be safely used

This commit is contained in:
Lorenz Meier 2014-04-26 15:14:23 +02:00
parent d4785d4b65
commit ad1be765bf
1 changed files with 5 additions and 5 deletions
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10
src/modules/ekf_att_pos_estimator/estimator.cpp
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@ -2250,21 +2250,21 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
// check all integrators
if (!isfinite(summedDelAng.x) || !isfinite(summedDelAng.y) || !isfinite(summedDelAng.z)) {
err_report->statesNaN = true;
ekf_debug("summedDelAng NaN: x: %f y: %f z: %f", summedDelAng.x, summedDelAng.y, summedDelAng.z);
ekf_debug("summedDelAng NaN: x: %f y: %f z: %f", (double)summedDelAng.x, (double)summedDelAng.y, (double)summedDelAng.z);
err = true;
goto out;
} // delta angles
if (!isfinite(correctedDelAng.x) || !isfinite(correctedDelAng.y) || !isfinite(correctedDelAng.z)) {
err_report->statesNaN = true;
ekf_debug("correctedDelAng NaN: x: %f y: %f z: %f", correctedDelAng.x, correctedDelAng.y, correctedDelAng.z);
ekf_debug("correctedDelAng NaN: x: %f y: %f z: %f", (double)correctedDelAng.x, (double)correctedDelAng.y, (double)correctedDelAng.z);
err = true;
goto out;
} // delta angles
if (!isfinite(summedDelVel.x) || !isfinite(summedDelVel.y) || !isfinite(summedDelVel.z)) {
err_report->statesNaN = true;
ekf_debug("summedDelVel NaN: x: %f y: %f z: %f", summedDelVel.x, summedDelVel.y, summedDelVel.z);
ekf_debug("summedDelVel NaN: x: %f y: %f z: %f", (double)summedDelVel.x, (double)summedDelVel.y, (double)summedDelVel.z);
err = true;
goto out;
} // delta velocities
@ -2381,8 +2381,8 @@ void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, f
float magX, magY;
float initialHdg, cosHeading, sinHeading;
initialRoll = atan2(-ay, -az);
initialPitch = atan2(ax, -az);
initialRoll = atan2f(-ay, -az);
initialPitch = atan2f(ax, -az);
cosRoll = cosf(initialRoll);
sinRoll = sinf(initialRoll);