From 600240d95f6dc08f82e5310b13e9406c4df0f00f Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 20 May 2020 12:28:32 -0400
Subject: [PATCH] EKF: resetGpsAntYaw() fix double promotion

---
 EKF/gps_yaw_fusion.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/gps_yaw_fusion.cpp b/EKF/gps_yaw_fusion.cpp
index fc99a51fe9..176569312d 100644
--- a/EKF/gps_yaw_fusion.cpp
+++ b/EKF/gps_yaw_fusion.cpp
@@ -313,7 +313,7 @@ bool Ekf::resetGpsAntYaw()
 
 		// update the quaternion state estimates and corresponding covariances only if
 		// the change in angle has been large or the yaw is not yet aligned
-		if(fabs(yaw_delta) > math::radians(15.0f) || !_control_status.flags.yaw_align) {
+		if(fabsf(yaw_delta) > math::radians(15.0f) || !_control_status.flags.yaw_align) {
 			const float yaw_variance = sq(fmaxf(_params.mag_heading_noise, 1.0e-2f));
 			resetQuatStateYaw(measured_yaw, yaw_variance, true);
 		}