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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-30 09:59:45 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-30 09:59:45 +0200 |
commit | 857b843d445f59f2dc393e4d5f879fc56f77a0e0 (patch) | |
tree | a5167e5c336b4f8fcb1550317c7e26da7bfedbfe /src/lib | |
parent | 28a31708f98eefa4ceb04617f2da3dd7892c99fa (diff) | |
parent | 92adbe9216c96c53d1baa4eb1e14b4ede272c080 (diff) | |
download | px4-firmware-857b843d445f59f2dc393e4d5f879fc56f77a0e0.tar.gz px4-firmware-857b843d445f59f2dc393e4d5f879fc56f77a0e0.tar.bz2 px4-firmware-857b843d445f59f2dc393e4d5f879fc56f77a0e0.zip |
Merge pull request #1095 from DonLakeFlyer/CompilerWarnings
Fix compiler warnings
Diffstat (limited to 'src/lib')
-rw-r--r-- | src/lib/geo/geo.c | 33 | ||||
-rw-r--r-- | src/lib/geo_lookup/geo_mag_declination.c | 31 |
2 files changed, 29 insertions, 35 deletions
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c index 9a24ff50e..212e33ff8 100644 --- a/src/lib/geo/geo.c +++ b/src/lib/geo/geo.c @@ -82,8 +82,8 @@ __EXPORT void map_projection_project(struct map_projection_reference_s *ref, dou __EXPORT void map_projection_reproject(struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon) { - float x_rad = x / CONSTANTS_RADIUS_OF_EARTH; - float y_rad = y / CONSTANTS_RADIUS_OF_EARTH; + double x_rad = x / CONSTANTS_RADIUS_OF_EARTH; + double y_rad = y / CONSTANTS_RADIUS_OF_EARTH; double c = sqrtf(x_rad * x_rad + y_rad * y_rad); double sin_c = sin(c); double cos_c = cos(c); @@ -146,7 +146,6 @@ __EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double double lat_next_rad = lat_next * M_DEG_TO_RAD; double lon_next_rad = lon_next * M_DEG_TO_RAD; - double d_lat = lat_next_rad - lat_now_rad; double d_lon = lon_next_rad - lon_now_rad; /* conscious mix of double and float trig function to maximize speed and efficiency */ @@ -174,8 +173,8 @@ __EXPORT void add_vector_to_global_position(double lat_now, double lon_now, floa double lat_now_rad = lat_now * M_DEG_TO_RAD; double lon_now_rad = lon_now * M_DEG_TO_RAD; - *lat_res = (lat_now_rad + v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG; - *lon_res = (lon_now_rad + v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG; + *lat_res = (lat_now_rad + (double)v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG; + *lon_res = (lon_now_rad + (double)v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG; } // Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu> @@ -197,7 +196,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d crosstrack_error->bearing = 0.0f; // Return error if arguments are bad - if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) { return return_value; } + if (lat_now == 0.0 || lon_now == 0.0 || lat_start == 0.0 || lon_start == 0.0 || lat_end == 0.0d || lon_end == 0.0d) { return return_value; } bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end); @@ -212,7 +211,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d } dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); - crosstrack_error->distance = (dist_to_end) * sin(bearing_diff); + crosstrack_error->distance = (dist_to_end) * sinf(bearing_diff); if (sin(bearing_diff) >= 0) { crosstrack_error->bearing = _wrap_pi(bearing_track - M_PI_2_F); @@ -248,7 +247,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do crosstrack_error->bearing = 0.0f; // Return error if arguments are bad - if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) { return return_value; } + if (lat_now == 0.0 || lon_now == 0.0 || lat_center == 0.0 || lon_center == 0.0 || radius == 0.0f) { return return_value; } if (arc_sweep >= 0) { @@ -296,14 +295,14 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do // as this function generally will not be called repeatedly when we are out of the sector. // TO DO - this is messed up and won't compile - float start_disp_x = radius * sin(arc_start_bearing); - float start_disp_y = radius * cos(arc_start_bearing); - float end_disp_x = radius * sin(_wrapPI(arc_start_bearing + arc_sweep)); - float end_disp_y = radius * cos(_wrapPI(arc_start_bearing + arc_sweep)); - float lon_start = lon_now + start_disp_x / 111111.0d; - float lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0d; - float lon_end = lon_now + end_disp_x / 111111.0d; - float lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0d; + float start_disp_x = radius * sinf(arc_start_bearing); + float start_disp_y = radius * cosf(arc_start_bearing); + float end_disp_x = radius * sinf(_wrapPI(arc_start_bearing + arc_sweep)); + float end_disp_y = radius * cosf(_wrapPI(arc_start_bearing + arc_sweep)); + float lon_start = lon_now + start_disp_x / 111111.0f; + float lat_start = lat_now + start_disp_y * cosf(lat_now) / 111111.0f; + float lon_end = lon_now + end_disp_x / 111111.0f; + float lat_end = lat_now + end_disp_y * cosf(lat_now) / 111111.0f; float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start); float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end); @@ -337,7 +336,7 @@ __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now double d_lat = x_rad - current_x_rad; double d_lon = y_rad - current_y_rad; - double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0f) * cos(current_x_rad) * cos(x_rad); + double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(current_x_rad) * cos(x_rad); double c = 2 * atan2(sqrt(a), sqrt(1 - a)); float dxy = CONSTANTS_RADIUS_OF_EARTH * c; diff --git a/src/lib/geo_lookup/geo_mag_declination.c b/src/lib/geo_lookup/geo_mag_declination.c index 09eac38f4..c41d52606 100644 --- a/src/lib/geo_lookup/geo_mag_declination.c +++ b/src/lib/geo_lookup/geo_mag_declination.c @@ -54,24 +54,19 @@ static const int8_t declination_table[13][37] = \ { - 46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, \ - -66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46, 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, \ - -3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, \ - 29, 30, 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, \ - -40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21, 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, \ - 8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, \ - 10, 13, 15, 16, 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, \ - -10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12, 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, \ - -14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10, 9, 9, 9, \ - 9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, \ - 7, 8, 9, 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, \ - 0, 0, 0, 1, 3, 5, 7, 8, 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, \ - 0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8, 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, \ - 0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6, 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, \ - -16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5, 4, 8, 12, 15, 17, 18, 16, \ - 12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, \ - 0, 4, 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, \ - 13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3 + { 46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, -66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46 }, + { 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, -3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, 29, 30 }, + { 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, -40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21 }, + { 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, 8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, 10, 13, 15, 16 }, + { 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, -10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12 }, + { 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, -14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10 }, + { 9, 9, 9, 9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, 7, 8, 9 }, + { 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, 0, 0, 0, 1, 3, 5, 7, 8 }, + { 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, 0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8 }, + { 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, 0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6 }, + { 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, -16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5 }, + { 4, 8, 12, 15, 17, 18, 16, 12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, 0, 4 }, + { 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, 13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3 }, }; static float get_lookup_table_val(unsigned lat, unsigned lon); |