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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/common.h
+5 -5
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@@ -182,13 +182,13 @@ struct dragSample {
#define MAG_FUSE_TYPE_AUTOFW 3 ///< The same as option 0, but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states.
// Maximum sensor intervals in usec
#define GPS_MAX_INTERVAL 5e5 ///< Maximum allowable time interval between GPS measurements (uSec)
#define BARO_MAX_INTERVAL 2e5 ///< Maximum allowable time interval between pressure altitude measurements (uSec)
#define RNG_MAX_INTERVAL 2e5 ///< Maximum allowable time interval between range finder measurements (uSec)
#define EV_MAX_INTERVAL 2e5 ///< Maximum allowable time interval between external vision system measurements (uSec)
#define GPS_MAX_INTERVAL (uint64_t)5e5 ///< Maximum allowable time interval between GPS measurements (uSec)
#define BARO_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between pressure altitude measurements (uSec)
#define RNG_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between range finder measurements (uSec)
#define EV_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between external vision system measurements (uSec)
// bad accelerometer detection and mitigation
#define BADACC_PROBATION 10E6 ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)
#define BADACC_PROBATION (uint64_t)10e6 ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)
#define BADACC_BIAS_PNOISE 4.9f ///< The delta velocity process noise is set to this when accel data is declared bad (m/sec**2)
struct parameters {