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A little warning cleanup

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This commit is contained in:
Ryan Pavlik
2012-05-01 19:13:48 -05:00
parent 3ad3c396be
commit 434e53592a
4 changed files with 28 additions and 29 deletions
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24
src/motion_plus.c
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@@ -261,27 +261,27 @@ static void calculate_gyro_rates(struct motion_plus_t* mp)
/* We convert to degree/sec according to fast/slow mode */
if (mp->acc_mode & 0x04)
tmp_roll = tmp_r / 20.0;
tmp_roll = (float)tmp_r / 20.0f;
else
tmp_roll = tmp_r / 4.0;
tmp_roll = (float)tmp_r / 4.0f;
if (mp->acc_mode & 0x02)
tmp_pitch = tmp_p / 20.0;
tmp_pitch = (float)tmp_p / 20.0f;
else
tmp_pitch = tmp_p / 4.0;
tmp_pitch = (float)tmp_p / 4.0f;
if (mp->acc_mode & 0x01)
tmp_yaw = tmp_y / 20.0;
tmp_yaw = (float)tmp_y / 20.0f;
else
tmp_yaw = tmp_y / 4.0;
tmp_yaw = (float)tmp_y / 4.0f;
/* Simple filtering */
if (fabs(tmp_roll) < 0.5)
tmp_roll = 0.0;
if (fabs(tmp_pitch) < 0.5)
tmp_pitch = 0.0;
if (fabs(tmp_yaw) < 0.5)
tmp_yaw = 0.0;
if (fabs(tmp_roll) < 0.5f)
tmp_roll = 0.0f;
if (fabs(tmp_pitch) < 0.5f)
tmp_pitch = 0.0f;
if (fabs(tmp_yaw) < 0.5f)
tmp_yaw = 0.0f;
mp->angle_rate_gyro.roll = tmp_roll;
mp->angle_rate_gyro.pitch = tmp_pitch;