From 9ac860ac33b6e5a127643f86981da61686304916 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 18 Jul 2021 13:24:15 -0400 Subject: [PATCH] ekf2: test fix double promotion warnings --- .../ekf2/test/sensor_simulator/sensor_simulator.cpp | 7 +------ src/modules/ekf2/test/sensor_simulator/sensor_simulator.h | 2 +- src/modules/ekf2/test/test_EKF_initialization.cpp | 8 +++++--- 3 files changed, 7 insertions(+), 10 deletions(-) diff --git a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp index 346a32e7c7..86d7379850 100644 --- a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp +++ b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp @@ -17,11 +17,6 @@ SensorSimulator::SensorSimulator(std::shared_ptr ekf): startBasicSensor(); } -SensorSimulator::~SensorSimulator() -{ - -} - void SensorSimulator::loadSensorDataFromFile(std::string file_name) { std::ifstream file(file_name); @@ -281,7 +276,7 @@ void SensorSimulator::setSingleReplaySample(const sensor_info &sample) // _vio.setData((float) sample.sensor_data[0], (float) sample.sensor_data[1]); } else if (sample.sensor_type == sensor_info::LANDING_STATUS) { - bool landed = fabsf(sample.sensor_data[0]) <= 0.f; + bool landed = std::abs(sample.sensor_data[0]) <= 0; _ekf->set_in_air_status(!landed); } else { diff --git a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.h b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.h index c3e2ee00f1..aaf6cb65e2 100644 --- a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.h +++ b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.h @@ -73,7 +73,7 @@ class SensorSimulator public: SensorSimulator(std::shared_ptr ekf); - ~SensorSimulator(); + ~SensorSimulator() = default; uint64_t getTime() const { return _time; }; diff --git a/src/modules/ekf2/test/test_EKF_initialization.cpp b/src/modules/ekf2/test/test_EKF_initialization.cpp index 05f41606fb..0758bc96cb 100644 --- a/src/modules/ekf2/test/test_EKF_initialization.cpp +++ b/src/modules/ekf2/test/test_EKF_initialization.cpp @@ -188,11 +188,13 @@ TEST_F(EkfInitializationTest, gyroBias) printf("%d| ", i); for (uint8_t j = 0; j <= 15; j++) { - double corr = sqrt(abs(P(i, i) * P(j, j))); + float corr = sqrtf(fabsf(P(i, i) * P(j, j))); - if (corr > 0.0) { corr = double(abs(P(i, j))) / corr; } + if (corr > 0.0f) { + corr = fabsf(P(i, j)) / corr; + } - printf("%.3f\t", corr); + printf("%.3f\t", (double)corr); } printf("\n");