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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-30 16:33:53 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-30 16:33:53 +0200 |
| commit | 3c5f35da73cb6c37cf45a06909631e13b762f76d (patch) | |
| tree | aff1847d980932553d7313aca8eec91bdf4009f7 /src/modules/position_estimator_inav | |
| parent | ff84fb2ac6b4c25feac9c82152c56e89e8ae29fb (diff) | |
| parent | ad4411bfc1894c8a9ca42f563f7bf8207b39e7c1 (diff) | |
| download | px4-firmware-3c5f35da73cb6c37cf45a06909631e13b762f76d.tar.gz px4-firmware-3c5f35da73cb6c37cf45a06909631e13b762f76d.tar.bz2 px4-firmware-3c5f35da73cb6c37cf45a06909631e13b762f76d.zip | |
Merge pull request #1100 from PX4/warning_fixes_v3
Warning fixes v3
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 17 |
1 files changed, 11 insertions, 6 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 9870ebd05..5b312941e 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -49,6 +49,7 @@ #include <sys/prctl.h> #include <termios.h> #include <math.h> +#include <float.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/actuator_controls.h> @@ -477,7 +478,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f; flow_prev = flow.flow_timestamp; - if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7f && flow.ground_distance_m != sonar_prev) { + if ((flow.ground_distance_m > 0.31f) && + (flow.ground_distance_m < 4.0f) && + (att.R[2][2] > 0.7f) && + (fabsf(flow.ground_distance_m - sonar_prev) > FLT_EPSILON)) { + sonar_time = t; sonar_prev = flow.ground_distance_m; corr_sonar = flow.ground_distance_m + surface_offset + z_est[0]; @@ -952,11 +957,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float updates_dt = (t - updates_counter_start) * 0.000001f; warnx( "updates rate: accelerometer = %.1f/s, baro = %.1f/s, gps = %.1f/s, attitude = %.1f/s, flow = %.1f/s", - accel_updates / updates_dt, - baro_updates / updates_dt, - gps_updates / updates_dt, - attitude_updates / updates_dt, - flow_updates / updates_dt); + (double)(accel_updates / updates_dt), + (double)(baro_updates / updates_dt), + (double)(gps_updates / updates_dt), + (double)(attitude_updates / updates_dt), + (double)(flow_updates / updates_dt)); updates_counter_start = t; accel_updates = 0; baro_updates = 0; |