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Fix bugs found through compiler warnings

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This commit is contained in:
Don Gagne
2014-06-29 12:01:43 -07:00
parent 94c69e11ae
commit d5b5dcef24
10 changed files with 33 additions and 14 deletions
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src/modules/ekf_att_pos_estimator/estimator.cpp
+1 -1
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@@ -1986,7 +1986,7 @@ void AttPosEKF::calcposNED(float (&posNED)[3], double lat, double lon, float hgt
posNED[2] = -(hgt - hgtRef);
}
void AttPosEKF::calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef)
void AttPosEKF::calcLLH(float posNED[3], float &lat, float &lon, float &hgt, float latRef, float lonRef, float hgtRef)
{
lat = latRef + posNED[0] * earthRadiusInv;
lon = lonRef + posNED[1] * earthRadiusInv / cos(latRef);
src/modules/ekf_att_pos_estimator/estimator.h
+1 -1
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@@ -301,7 +301,7 @@ static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, flo
static void calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef);
static void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
static void calcLLH(float posNED[3], float &lat, float &lon, float &hgt, float latRef, float lonRef, float hgtRef);
static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);