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Code Issues Releases Activity

Some code cleanup to get rid of some warning messages

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This commit is contained in:
James Cotton 2012-03-02 18:27:33 -06:00
parent 23625904c5
commit 7a3ec3e173
1 changed files with 6 additions and 4 deletions
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10
flight/Modules/Attitude/revolution/attitude.c
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@ -514,8 +514,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
INSSetState(pos, zeros, q, zeros, zeros);
INSResetP(Pdiag);
} else if (init_stage == 0 && outdoor_mode) {
float q[4], rpy[3];
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 rpy[3];
float q[4];
float NED[3];
// Reset the INS algorithm
@ -682,16 +683,18 @@ static int32_t getNED(GPSPositionData * gpsPosition, float * NED)
{
float dL[3] = {(gpsPosition->Latitude - homeLocation.Latitude) / 10.0e6f * DEG2RAD,
(gpsPosition->Longitude - homeLocation.Longitude) / 10.0e6f * DEG2RAD,
(gpsPosition->Altitude - homeLocation.Altitude)};
(gpsPosition->Altitude + gpsPosition->GeoidSeparation - homeLocation.Altitude)};
NED[0] = T[0] * dL[0];
NED[1] = T[1] * dL[1];
NED[2] = T[2] * dL[2];
return 0;
}
static void settingsUpdatedCb(UAVObjEvent * objEv)
{
float lat, lon, alt;
float lat, alt;
AttitudeSettingsGet(&attitudeSettings);
RevoCalibrationGet(&revoCalibration);
@ -707,7 +710,6 @@ static void settingsUpdatedCb(UAVObjEvent * objEv)
// Compute matrix to convert deltaLLA to NED
lat = homeLocation.Latitude / 10.0e6f * DEG2RAD;
lon = homeLocation.Longitude / 10.0e6 * DEG2RAD;
alt = homeLocation.Altitude;
// In case INS currently running