From 28f536dc4478e5536b568093ec62cf16e8a1687d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 11 Jul 2013 23:25:08 +0200 Subject: Hotfix: fixed compile warnings --- src/modules/att_pos_estimator_ekf/KalmanNav.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) (limited to 'src/modules/att_pos_estimator_ekf') diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index 97d7fdd75..191d20f30 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -661,10 +661,10 @@ int KalmanNav::correctPos() Vector y(6); y(0) = _gps.vel_n_m_s - vN; y(1) = _gps.vel_e_m_s - vE; - y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG; - y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG; - y(4) = double(_gps.alt) / 1.0e3 - alt; - y(5) = double(_sensors.baro_alt_meter) - alt; + y(2) = double(_gps.lat) - double(lat) * 1.0e7 * M_RAD_TO_DEG; + y(3) = double(_gps.lon) - double(lon) * 1.0e7 * M_RAD_TO_DEG; + y(4) = _gps.alt / 1.0e3f - alt; + y(5) = _sensors.baro_alt_meter - alt; // compute correction // http://en.wikipedia.org/wiki/Extended_Kalman_filter @@ -698,7 +698,7 @@ int KalmanNav::correctPos() vD += xCorrect(VD); lat += double(xCorrect(LAT)); lon += double(xCorrect(LON)); - alt += double(xCorrect(ALT)); + alt += xCorrect(ALT); // update state covariance // http://en.wikipedia.org/wiki/Extended_Kalman_filter @@ -710,7 +710,7 @@ int KalmanNav::correctPos() static int counter = 0; if (beta > _faultPos.get() && (counter % 10 == 0)) { warnx("fault in gps: beta = %8.4f", (double)beta); - warnx("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f", + warnx("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f, baro: %8.4f", double(y(0) / sqrtf(RPos(0, 0))), double(y(1) / sqrtf(RPos(1, 1))), double(y(2) / sqrtf(RPos(2, 2))), -- cgit v1.2.3