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enable Wshadow

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This commit is contained in:
Daniel Agar
2016-05-04 19:45:40 -04:00
parent c6775b5bf2
commit 22d18d638c
4 changed files with 8 additions and 13 deletions
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EKF/CMakeLists.txt
+3 -3
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@@ -37,7 +37,7 @@ project (ECL CXX)
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CURRENT_SOURCE_DIR ./)
set(CMAKE_CXX_FLAGS "-DPOSIX_SHARED")
set (EIGEN3_INCLUDE_DIR "/usr/local/include/eigen3/")
set(EIGEN3_INCLUDE_DIR "/usr/local/include/eigen3/")
IF( NOT EIGEN3_INCLUDE_DIR )
MESSAGE( FATAL_ERROR "Please point the environment variable EIGEN3_INCLUDE_DIR to the include directory of your Eigen3 installation.")
@@ -69,5 +69,5 @@ set(SRCS
geo.cpp
mathlib.cpp
)
add_definitions(-std=c++11)
add_library(ecl SHARED ${SRCS})
add_definitions(-std=c++11 -Wall -Werror)
add_library(ecl SHARED ${SRCS})
EKF/airspeed_fusion.cpp
+1 -4
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@@ -196,9 +196,6 @@ void Ekf::fuseAirspeed()
_state.quat_nominal.normalize();
// update covariance matrix via Pnew = (I - KH)P = P - KHP
float KH[_k_num_states][_k_num_states] = {};
float KHP[_k_num_states][_k_num_states] = {};
for (unsigned row = 0; row < _k_num_states; row++) {
for (unsigned column = 0; column < _k_num_states; column++) { // Here it will be a lot of zeros, should optimize that...
KH[row][column] = Kfusion[row] * H_TAS[column];
@@ -222,4 +219,4 @@ void Ekf::fuseAirspeed()
makeSymmetrical();
limitCov();
}
}
}
EKF/gps_checks.cpp
+4 -4
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@@ -197,10 +197,10 @@ bool Ekf::gps_is_good(struct gps_message *gps)
// This check can only be used if the vehicle is stationary during alignment
if (!_control_status.flags.armed) {
vel_limit = 10.0f * _params.req_hdrift;
float velN = fminf(fmaxf(gps->vel_ned[0], -vel_limit), vel_limit);
float velE = fminf(fmaxf(gps->vel_ned[1], -vel_limit), vel_limit);
_gps_velN_filt = velN * filter_coef + _gps_velN_filt * (1.0f - filter_coef);
_gps_velE_filt = velE * filter_coef + _gps_velE_filt * (1.0f - filter_coef);
float gps_velN = fminf(fmaxf(gps->vel_ned[0], -vel_limit), vel_limit);
float gps_velE = fminf(fmaxf(gps->vel_ned[1], -vel_limit), vel_limit);
_gps_velN_filt = gps_velN * filter_coef + _gps_velN_filt * (1.0f - filter_coef);
_gps_velE_filt = gps_velE * filter_coef + _gps_velE_filt * (1.0f - filter_coef);
float horiz_speed = sqrtf(_gps_velN_filt * _gps_velN_filt + _gps_velE_filt * _gps_velE_filt);
_gps_check_fail_status.flags.hspeed = (horiz_speed > _params.req_hdrift);
EKF/vel_pos_fusion.cpp
-2
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@@ -246,8 +246,6 @@ void Ekf::fuseVelPosHeight()
_state.quat_nominal.normalize();
// update covarinace matrix via Pnew = (I - KH)P
float KHP[_k_num_states][_k_num_states] = {};
for (unsigned row = 0; row < _k_num_states; row++) {
for (unsigned column = 0; column < _k_num_states; column++) {
KHP[row][column] = Kfusion[row] * P[state_index][column];