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EKF: use uint64_t cast for XeY to avoid float casting of variables

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The default type for XeY is float
This commit is contained in:
ChristophTobler
2017-11-08 11:40:26 +01:00
parent bba3f70a0e
commit e388e59f32
8 changed files with 26 additions and 27 deletions
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EKF/airspeed_fusion.cpp
+1 -1
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@@ -259,7 +259,7 @@ void Ekf::resetWindStates()
Eulerf euler321(_state.quat_nominal);
float euler_yaw = euler321(2);
if (_tas_data_ready && (_imu_sample_delayed.time_us - _airspeed_sample_delayed.time_us < 5e5)) {
if (_tas_data_ready && (_imu_sample_delayed.time_us - _airspeed_sample_delayed.time_us < (uint64_t)5e5)) {
// estimate wind using zero sideslip assumption and airspeed measurement if airspeed available
_state.wind_vel(0) = _state.vel(0) - _airspeed_sample_delayed.true_airspeed * cosf(euler_yaw);
_state.wind_vel(1) = _state.vel(1) - _airspeed_sample_delayed.true_airspeed * sinf(euler_yaw);