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EKF estimator_interface coverity fix 140490, 140491

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This commit is contained in:
Daniel Agar
2017-04-27 20:12:38 -04:00
committed by Lorenz Meier
parent 5ee0ed5a0d
commit b3f8fd19e0
1 changed files with 3 additions and 4 deletions
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EKF/estimator_interface.cpp
+3 -4
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@@ -67,8 +67,8 @@ void EstimatorInterface::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, u
// copy data
imuSample imu_sample_new = {};
memcpy(&imu_sample_new.delta_ang._data[0], &delta_ang[0], sizeof(imu_sample_new.delta_ang._data));
memcpy(&imu_sample_new.delta_vel._data[0], &delta_vel[0], sizeof(imu_sample_new.delta_vel._data));
imu_sample_new.delta_ang = Vector3f(delta_ang);
imu_sample_new.delta_vel = Vector3f(delta_vel);
// convert time from us to secs
imu_sample_new.delta_ang_dt = delta_ang_dt / 1e6f;
@@ -157,8 +157,7 @@ void EstimatorInterface::setMagData(uint64_t time_usec, float (&data)[3])
mag_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
_time_last_mag = time_usec;
memcpy(&mag_sample_new.mag._data[0], data, sizeof(mag_sample_new.mag._data));
mag_sample_new.mag = Vector3f(data);
_mag_buffer.push(mag_sample_new);
}