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Hotfix: fixed compile warnings

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Lorenz Meier
2013-07-11 23:25:08 +02:00
parent 7a6a8ea53a
commit 28f536dc44
1 changed files with 6 additions and 6 deletions
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src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+6 -6
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@@ -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))),