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Code Issues Releases Activity

OP-1317 changed int into int32_t in function Quaternion2PY()

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This commit is contained in:
Andres 2014-07-20 15:26:05 +02:00
parent 642f740be3
commit ddde6d1f5e
1 changed files with 3 additions and 3 deletions
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6
flight/modules/Airspeed/imu_airspeed.c
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@ -97,10 +97,10 @@ static void Quaternion2PY(const float q0, const float q1, const float q2, const
} else {
// calculate needed mutliples of 2pi to avoid jumps
// number of cycles accumulated in old yaw
const int cycles = (int)(*yPtr / TWO_PI);
const int32_t cycles = (int32_t)(*yPtr / TWO_PI);
// look for a jump by substracting the modulus, i.e. there is maximally one jump.
// take slightly less than 2pi, because the jump will always be lower than 2pi
const int mod = (int)((y_ - (*yPtr - cycles * TWO_PI)) / (TWO_PI * 0.9f));
const int32_t mod = (int32_t)((y_ - (*yPtr - cycles * TWO_PI)) / (TWO_PI * 0.8f));
*yPtr = y_ + TWO_PI * (cycles - mod);
}
}
@ -222,7 +222,7 @@ void imu_airspeedGet(AirspeedSensorData *airspeedData, AirspeedSettingsData *air
PY2xB(p, y, dxB);
// calculate change in fuselage vector by substraction of old value
PY2DeltaxB(imu->pOld, imu->yOld, dxB);
// filter ground speed from VelocityState
const float fv1n = FilterButterWorthDF2(ff, velData.North, &(imu->v1n1), &(imu->v1n2));
const float fv2n = FilterButterWorthDF2(ff, velData.East, &(imu->v2n1), &(imu->v2n2));