diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-17 13:38:21 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-17 13:38:21 +0200 |
| commit | 3ca94e7943fc76053114ab97d4b63dc6902fd5bf (patch) | |
| tree | 87ca97fff76d2b7cfd84454e8a89227838c58af8 /mavlink | |
| parent | 57b8dee7092eb84e8f4f31dcee85736eedb2ca8f (diff) | |
| download | px4-firmware-3ca94e7943fc76053114ab97d4b63dc6902fd5bf.tar.gz px4-firmware-3ca94e7943fc76053114ab97d4b63dc6902fd5bf.tar.bz2 px4-firmware-3ca94e7943fc76053114ab97d4b63dc6902fd5bf.zip | |
Prevent warnings by data conversion
Diffstat (limited to 'mavlink')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/mavlink_conversions.h | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/mavlink/include/mavlink/v1.0/mavlink_conversions.h b/mavlink/include/mavlink/v1.0/mavlink_conversions.h index d89363577..51afac87c 100644 --- a/mavlink/include/mavlink/v1.0/mavlink_conversions.h +++ b/mavlink/include/mavlink/v1.0/mavlink_conversions.h @@ -9,6 +9,10 @@ #endif #include <math.h> +#ifndef M_PI_2 + #define M_PI_2 ((float)asin(1)) +#endif + /** * @file mavlink_conversions.h * @@ -49,12 +53,12 @@ MAVLINK_HELPER void mavlink_dcm_to_euler(const float dcm[3][3], float* roll, flo float phi, theta, psi; theta = asin(-dcm[2][0]); - if (fabs(theta - M_PI_2) < 1.0e-3f) { + if (fabsf(theta - (float)M_PI_2) < 1.0e-3f) { phi = 0.0f; - psi = (atan2(dcm[1][2] - dcm[0][1], + psi = (atan2f(dcm[1][2] - dcm[0][1], dcm[0][2] + dcm[1][1]) + phi); - } else if (fabs(theta + M_PI_2) < 1.0e-3f) { + } else if (fabsf(theta + (float)M_PI_2) < 1.0e-3f) { phi = 0.0f; psi = atan2f(dcm[1][2] - dcm[0][1], dcm[0][2] + dcm[1][1] - phi); @@ -128,4 +132,4 @@ MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, flo dcm[2][2] = cosPhi * cosThe; } -#endif
\ No newline at end of file +#endif |