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Compile fixes

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This commit is contained in:
Lorenz Meier
2014-04-26 16:16:44 +02:00
parent 0d50b3ea86
commit 2d978beefb
2 changed files with 3 additions and 4 deletions
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src/modules/ekf_att_pos_estimator/estimator.cpp
+1 -1
View File
@@ -2307,7 +2307,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
if (!isfinite(states[i])) {
err_report->statesNaN = true;
ekf_debug("states NaN: i: %u val: %f", i, states[i]);
ekf_debug("states NaN: i: %u val: %f", i, (double)states[i]);
err = true;
goto out;
} // state matrix
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+2 -3
View File
@@ -1213,8 +1213,8 @@ FixedwingEstimator::task_main()
_global_pos.lat = est_lat;
_global_pos.lon = est_lon;
_global_pos.time_gps_usec = _gps.time_gps_usec;
_global_pos.eph = _gps.eph;
_global_pos.epv = _gps.epv;
_global_pos.eph = _gps.eph_m;
_global_pos.epv = _gps.epv_m;
}
if (_local_pos.v_xy_valid) {
@@ -1227,7 +1227,6 @@ FixedwingEstimator::task_main()
/* local pos alt is negative, change sign and add alt offset */
_global_pos.alt = _local_pos.ref_alt + (-_local_pos.z);
_global_pos.rel_alt = (-_local_pos.z);
if (_local_pos.v_z_valid) {
_global_pos.vel_d = _local_pos.vz;