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clang-tidy performance-type-promotion-in-math-fn (#236)

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This commit is contained in:
Daniel Agar
2017-02-02 00:17:08 -05:00
committed by GitHub
parent 453bde73f8
commit 47b8ef258b
3 changed files with 4 additions and 4 deletions
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EKF/ekf_helper.cpp
+2 -2
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@@ -768,7 +768,7 @@ void Ekf::get_innovation_test_status(uint16_t *status, float *mag, float *vel, f
// return the airspeed fusion innovation test ratio
*tas = sqrtf(_tas_test_ratio);
// return the terrain height innovation test ratio
*hagl = sqrt(_terr_test_ratio);
*hagl = sqrtf(_terr_test_ratio);
}
// return a bitmask integer that describes which state estimates are valid
@@ -912,7 +912,7 @@ Vector3f Ekf::calcRotVecVariances()
q3 = -_state.quat_nominal(3);
}
float t2 = q0*q0;
float t3 = acos(q0);
float t3 = acosf(q0);
float t4 = -t2+1.0f;
float t5 = t2-1.0f;
if ((t4 > 1e-9f) && (t5 < -1e-9f)) {
EKF/estimator_interface.cpp
+1 -1
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@@ -365,7 +365,7 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
// set the observaton buffer length to handle the minimum time of arrival between observations in combination
// with the worst case delay from current time to ekf fusion time
// allow for worst case 50% extension of the ekf fusion time horizon delay due to timing jitter
uint16_t ekf_delay_ms = max_time_delay_ms + (int)(ceil((float)max_time_delay_ms * 0.5f));
uint16_t ekf_delay_ms = max_time_delay_ms + (int)(ceilf((float)max_time_delay_ms * 0.5f));
_obs_buffer_length = (ekf_delay_ms / _params.sensor_interval_min_ms) + 1;
// limit to be no longer than the IMU buffer (we can't process data faster than the EKF prediction rate)