From ad1be765bf36a6068fda25e3c62c92e275aebc6b Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 26 Apr 2014 15:14:23 +0200
Subject: Fix warnings, use more efficient atan2f where it can be safely used

---
 src/modules/ekf_att_pos_estimator/estimator.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp
index 5de22fdae..6eceb21f8 100644
--- a/src/modules/ekf_att_pos_estimator/estimator.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator.cpp
@@ -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);
-- 
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