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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/ekf_helper.cpp
+1 -1
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@@ -1041,7 +1041,7 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, bool *limit_hagl)
bool Ekf::reset_imu_bias()
{
if (_imu_sample_delayed.time_us - _last_imu_bias_cov_reset_us < 10 * (1000 * 1000)) {
if (_imu_sample_delayed.time_us - _last_imu_bias_cov_reset_us < (uint64_t)10e6) {
return false;
}