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Code Issues Releases Activity

Fix some compilation errors/warnings in attitude.c

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This commit is contained in:
James Cotton 2012-03-11 14:39:31 -05:00
parent c8d1534b87
commit 0d42303d37
1 changed files with 4 additions and 10 deletions
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14
flight/Modules/Attitude/revolution/attitude.c
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@ -74,7 +74,6 @@
// Private types
// Private variables
static xTaskHandle sensorTaskHandle;
static xTaskHandle attitudeTaskHandle;
static xQueueHandle gyroQueue;
@ -85,10 +84,8 @@ static xQueueHandle gpsQueue;
const uint32_t SENSOR_QUEUE_SIZE = 10;
// Private functions
static void SensorTask(void *parameters);
static void AttitudeTask(void *parameters);
static int32_t updateSensors();
static int32_t updateAttitudeComplimentary(bool first_run);
static int32_t updateAttitudeINSGPS(bool first_run);
static void settingsUpdatedCb(UAVObjEvent * objEv);
@ -125,7 +122,7 @@ int32_t AttitudeInitialize(void)
// Initialize this here while we aren't setting the homelocation in GPS
HomeLocationInitialize();
// Initialize quaternion
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
@ -449,12 +446,11 @@ static int32_t updateAttitudeINSGPS(bool first_run)
} else if (!inited ) {
inited = true;
float Rbe[3][3], q[4], accels[3], rpy[3], mag;
float Rbe[3][3], q[4];
float ge[3]={0.0f,0.0f,-9.81f};
float zeros[3]={0.0f,0.0f,0.0f};
float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f};
float vel[3], NED[3];
bool using_mags, using_gps;
INSGPSInit();
@ -484,10 +480,7 @@ static int32_t updateAttitudeINSGPS(bool first_run)
return 0;
}
// Perform the update
static uint32_t updated_without_gps = 0;
float zeros[3] = {0, 0, 0};
// Perform the update
uint16_t sensors = 0;
float dT;
@ -585,6 +578,7 @@ static int32_t updateAttitudeINSGPS(bool first_run)
INSSetGyroBias(zeros);
}
return 0;
}
static void settingsUpdatedCb(UAVObjEvent * objEv)