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Prevent warnings by data conversion

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This commit is contained in:
Lorenz Meier
2013-10-17 13:38:21 +02:00
parent 57b8dee709
commit 3ca94e7943
1 changed files with 8 additions and 4 deletions
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mavlink/include/mavlink/v1.0/mavlink_conversions.h
+8 -4
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@@ -9,6 +9,10 @@
#endif #endif
#include <math.h> #include <math.h>
#ifndef M_PI_2
#define M_PI_2 ((float)asin(1))
#endif
/** /**
* @file mavlink_conversions.h * @file mavlink_conversions.h
* *
@@ -49,12 +53,12 @@ MAVLINK_HELPER void mavlink_dcm_to_euler(const float dcm[3][3], float* roll, flo
float phi, theta, psi; float phi, theta, psi;
theta = asin(-dcm[2][0]); theta = asin(-dcm[2][0]);
if (fabs(theta - M_PI_2) < 1.0e-3f) { if (fabsf(theta - (float)M_PI_2) < 1.0e-3f) {
phi = 0.0f; phi = 0.0f;
psi = (atan2(dcm[1][2] - dcm[0][1], psi = (atan2f(dcm[1][2] - dcm[0][1],
dcm[0][2] + dcm[1][1]) + phi); dcm[0][2] + dcm[1][1]) + phi);
} else if (fabs(theta + M_PI_2) < 1.0e-3f) { } else if (fabsf(theta + (float)M_PI_2) < 1.0e-3f) {
phi = 0.0f; phi = 0.0f;
psi = atan2f(dcm[1][2] - dcm[0][1], psi = atan2f(dcm[1][2] - dcm[0][1],
dcm[0][2] + dcm[1][1] - phi); dcm[0][2] + dcm[1][1] - phi);
@@ -128,4 +132,4 @@ MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, flo
dcm[2][2] = cosPhi * cosThe; dcm[2][2] = cosPhi * cosThe;
} }
#endif #endif