From b60a519cbc329f859a3047b70539702dd2c0df06 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 5 Jan 2020 20:44:28 -0500 Subject: [PATCH] drivers accel & gyroscope: use float for integrator accumulation - fixes Coverity CID 352841 and CID 352840 --- src/lib/drivers/accelerometer/PX4Accelerometer.hpp | 2 +- src/lib/drivers/gyroscope/PX4Gyroscope.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lib/drivers/accelerometer/PX4Accelerometer.hpp b/src/lib/drivers/accelerometer/PX4Accelerometer.hpp index 8ea09475a0..dbe34f112f 100644 --- a/src/lib/drivers/accelerometer/PX4Accelerometer.hpp +++ b/src/lib/drivers/accelerometer/PX4Accelerometer.hpp @@ -129,7 +129,7 @@ private: // integrator hrt_abstime _integrator_timestamp_sample{0}; hrt_abstime _timestamp_sample_prev{0}; - int32_t _integrator_accum[3] {}; + float _integrator_accum[3] {}; uint8_t _integrator_reset_samples{4}; uint8_t _integrator_samples{0}; uint8_t _integrator_fifo_samples{0}; diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.hpp b/src/lib/drivers/gyroscope/PX4Gyroscope.hpp index 799216984c..e5b2573f24 100644 --- a/src/lib/drivers/gyroscope/PX4Gyroscope.hpp +++ b/src/lib/drivers/gyroscope/PX4Gyroscope.hpp @@ -132,7 +132,7 @@ private: // integrator hrt_abstime _integrator_timestamp_sample{0}; hrt_abstime _timestamp_sample_prev{0}; - int32_t _integrator_accum[3] {}; + float _integrator_accum[3] {}; uint8_t _integrator_reset_samples{4}; uint8_t _integrator_samples{0}; uint8_t _integrator_fifo_samples{0};