From b5f9e95af0be6208a1eb411ed56c830d762227f9 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 30 Jun 2014 12:22:26 +0200 Subject: INAV: Warning fixes --- .../position_estimator_inav/position_estimator_inav_main.c | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) (limited to 'src/modules/position_estimator_inav') 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..488b53453 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 #include #include +#include #include #include #include @@ -477,7 +478,7 @@ 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 +953,11 @@ 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; -- cgit v1.2.3