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enable Wshadow

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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/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);