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EKF: fix cross compiler build errors

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This commit is contained in:
Paul Riseborough
2016-11-07 09:28:53 +11:00
parent d5b398ddb1
commit 403424d55d
1 changed files with 6 additions and 6 deletions
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EKF/ekf.cpp
+6 -6
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@@ -259,10 +259,10 @@ bool Ekf::initialiseFilter(void)
// increment the sample count and apply a LPF to the measurement
_mag_counter ++;
// don't start using data until we can be certain all bad initial data has been flushed
if (_mag_counter == OBS_BUFFER_LENGTH+1) {
if (_mag_counter == (uint8_t)(OBS_BUFFER_LENGTH + 1)) {
// initialise filter states
_mag_filt_state = _mag_sample_delayed.mag;
} else if (_mag_counter > OBS_BUFFER_LENGTH+1) {
} else if (_mag_counter > (uint8_t)(OBS_BUFFER_LENGTH + 1)) {
// noise filter the data
_mag_filt_state = _mag_filt_state * 0.9f + _mag_sample_delayed.mag * 0.1f;
}
@@ -306,10 +306,10 @@ bool Ekf::initialiseFilter(void)
// increment the sample count and apply a LPF to the measurement
_hgt_counter ++;
// don't start using data until we can be certain all bad initial data has been flushed
if (_hgt_counter == OBS_BUFFER_LENGTH+1) {
if (_hgt_counter == (uint8_t)(OBS_BUFFER_LENGTH + 1)) {
// initialise filter states
_rng_filt_state = _range_sample_delayed.rng;
} else if (_hgt_counter > OBS_BUFFER_LENGTH+1) {
} else if (_hgt_counter > (uint8_t)(OBS_BUFFER_LENGTH + 1)) {
// noise filter the data
_rng_filt_state = 0.9f * _rng_filt_state + 0.1f * _range_sample_delayed.rng;
}
@@ -330,10 +330,10 @@ bool Ekf::initialiseFilter(void)
// increment the sample count and apply a LPF to the measurement
_hgt_counter ++;
// don't start using data until we can be certain all bad initial data has been flushed
if (_hgt_counter == OBS_BUFFER_LENGTH+1) {
if (_hgt_counter == (uint8_t)(OBS_BUFFER_LENGTH + 1)) {
// initialise filter states
_baro_hgt_offset = _baro_sample_delayed.hgt;
} else if (_hgt_counter > OBS_BUFFER_LENGTH+1) {
} else if (_hgt_counter > (uint8_t)(OBS_BUFFER_LENGTH + 1)) {
// noise filter the data
_baro_hgt_offset = 0.9f * _baro_hgt_offset + 0.1f * _baro_sample_delayed.hgt;
}