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| author | Don Gagne <don@thegagnes.com> | 2014-07-07 15:11:46 -0700 |
|---|---|---|
| committer | Don Gagne <don@thegagnes.com> | 2014-07-07 15:11:46 -0700 |
| commit | 680ebf29c3f8298e63d4c4d9c9076464e6f4b3c1 (patch) | |
| tree | e2937f8482b15a271769ee4b8c6966ce6a2238e3 /src/modules/ekf_att_pos_estimator | |
| parent | be73ad0bdb932e35cf891e8f5ffc1b89fdd683dc (diff) | |
| download | px4-firmware-680ebf29c3f8298e63d4c4d9c9076464e6f4b3c1.tar.gz px4-firmware-680ebf29c3f8298e63d4c4d9c9076464e6f4b3c1.tar.bz2 px4-firmware-680ebf29c3f8298e63d4c4d9c9076464e6f4b3c1.zip | |
Fix compiler warnings
Diffstat (limited to 'src/modules/ekf_att_pos_estimator')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_23states.cpp | 6 |
1 files changed, 1 insertions, 5 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index 973de1382..f33a1d780 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -1742,7 +1742,6 @@ void AttPosEKF::FuseOptFlow() static float vd = 0.0f; static float pd = 0.0f; static float ptd = 0.0f; - static Vector3f delAng; static float R_LOS = 0.01f; static float losPred[2]; @@ -1820,9 +1819,6 @@ void AttPosEKF::FuseOptFlow() // calculate relative velocity in sensor frame relVelSensor = Tns*velNED_local; - // calculate delta angles in sensor axes - Vector3f delAngRel = Tbs*delAng; - // divide velocity by range and include angular rate effects to get predicted angular LOS rates relative to X and Y axes losPred[0] = relVelSensor.y/range; losPred[1] = -relVelSensor.x/range; @@ -1959,7 +1955,7 @@ void AttPosEKF::FuseOptFlow() } // normalise the quaternion states float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]); - if (quatMag > 1e-12) + if (quatMag > 1e-12f) { for (uint8_t j= 0; j<=3; j++) { |