Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-30 04:06:33 +08:00
Code Issues Actions 10 Packages Projects Releases Wiki Activity

ekf2: test fix double promotion warnings

Browse Source
This commit is contained in:
Daniel Agar
2021-07-18 13:24:15 -04:00
parent 9087ba2259
commit 9ac860ac33
3 changed files with 7 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp
+1 -6
View File
@@ -17,11 +17,6 @@ SensorSimulator::SensorSimulator(std::shared_ptr<Ekf> ekf):
startBasicSensor(); startBasicSensor();
} }
SensorSimulator::~SensorSimulator()
{
}
void SensorSimulator::loadSensorDataFromFile(std::string file_name) void SensorSimulator::loadSensorDataFromFile(std::string file_name)
{ {
std::ifstream file(file_name); std::ifstream file(file_name);
@@ -281,7 +276,7 @@ void SensorSimulator::setSingleReplaySample(const sensor_info &sample)
// _vio.setData((float) sample.sensor_data[0], (float) sample.sensor_data[1]); // _vio.setData((float) sample.sensor_data[0], (float) sample.sensor_data[1]);
} else if (sample.sensor_type == sensor_info::LANDING_STATUS) { } else if (sample.sensor_type == sensor_info::LANDING_STATUS) {
bool landed = fabsf(sample.sensor_data[0]) <= 0.f; bool landed = std::abs(sample.sensor_data[0]) <= 0;
_ekf->set_in_air_status(!landed); _ekf->set_in_air_status(!landed);
} else { } else {
src/modules/ekf2/test/sensor_simulator/sensor_simulator.h
+1 -1
View File
@@ -73,7 +73,7 @@ class SensorSimulator
public: public:
SensorSimulator(std::shared_ptr<Ekf> ekf); SensorSimulator(std::shared_ptr<Ekf> ekf);
~SensorSimulator(); ~SensorSimulator() = default;
uint64_t getTime() const { return _time; }; uint64_t getTime() const { return _time; };
src/modules/ekf2/test/test_EKF_initialization.cpp
+5 -3
View File
@@ -188,11 +188,13 @@ TEST_F(EkfInitializationTest, gyroBias)
printf("%d| ", i); printf("%d| ", i);
for (uint8_t j = 0; j <= 15; j++) { for (uint8_t j = 0; j <= 15; j++) {
double corr = sqrt(abs(P(i, i) * P(j, j))); float corr = sqrtf(fabsf(P(i, i) * P(j, j)));
if (corr > 0.0) { corr = double(abs(P(i, j))) / corr; } if (corr > 0.0f) {
corr = fabsf(P(i, j)) / corr;
}
printf("%.3f\t", corr); printf("%.3f\t", (double)corr);
} }
printf("\n"); printf("\n");