From 0ecc9c4bf4f2bf9fe1d99b5cbdf398718d2dccdd Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 25 Jun 2013 16:30:35 +0200
Subject: Shrinking the main commander file a bit

---
 src/modules/commander/accelerometer_calibration.c | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

(limited to 'src/modules/commander/accelerometer_calibration.c')

diff --git a/src/modules/commander/accelerometer_calibration.c b/src/modules/commander/accelerometer_calibration.c
index 231739962..7bae8ad40 100644
--- a/src/modules/commander/accelerometer_calibration.c
+++ b/src/modules/commander/accelerometer_calibration.c
@@ -70,15 +70,25 @@
  */
 
 #include "accelerometer_calibration.h"
+#include "commander_helper.h"
 
+#include <unistd.h>
+#include <stdio.h>
 #include <poll.h>
+#include <fcntl.h>
+#include <sys/prctl.h>
+#include <math.h>
+#include <string.h>
+
+
 #include <drivers/drv_hrt.h>
 #include <uORB/topics/sensor_combined.h>
 #include <drivers/drv_accel.h>
 #include <systemlib/conversions.h>
+#include <systemlib/param/param.h>
+#include <systemlib/err.h>
 #include <mavlink/mavlink_log.h>
 
-void do_accel_calibration(int mavlink_fd);
 int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]);
 int detect_orientation(int mavlink_fd, int sub_sensor_combined);
 int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num);
@@ -355,7 +365,7 @@ int mat_invert3(float src[3][3], float dst[3][3]) {
 	float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) -
 			    src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) +
 			    src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
-	if (det == 0.0)
+	if (det == 0.0f)
 		return ERROR;	// Singular matrix
 
 	dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det;
-- 
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