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Fix double promotion #163

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merged 1 commit into from
Apr 29, 2024
Merged

Fix double promotion #163

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4 changes: 2 additions & 2 deletions Fusion/FusionAhrs.c
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@

#include <float.h> // FLT_MAX
#include "FusionAhrs.h"
#include <math.h> // atan2f, cosf, powf, sinf
#include <math.h> // atan2f, cosf, fabsf, powf, sinf

//------------------------------------------------------------------------------
// Definitions
Expand Down Expand Up @@ -117,7 +117,7 @@ void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, cons
ahrs->accelerometer = accelerometer;

// Reinitialise if gyroscope range exceeded
if ((fabs(gyroscope.axis.x) > ahrs->settings.gyroscopeRange) || (fabs(gyroscope.axis.y) > ahrs->settings.gyroscopeRange) || (fabs(gyroscope.axis.z) > ahrs->settings.gyroscopeRange)) {
if ((fabsf(gyroscope.axis.x) > ahrs->settings.gyroscopeRange) || (fabsf(gyroscope.axis.y) > ahrs->settings.gyroscopeRange) || (fabsf(gyroscope.axis.z) > ahrs->settings.gyroscopeRange)) {
const FusionQuaternion quaternion = ahrs->quaternion;
FusionAhrsReset(ahrs);
ahrs->quaternion = quaternion;
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4 changes: 2 additions & 2 deletions Fusion/FusionOffset.c
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
// Includes

#include "FusionOffset.h"
#include <math.h> // fabs
#include <math.h> // fabsf

//------------------------------------------------------------------------------
// Definitions
Expand Down Expand Up @@ -57,7 +57,7 @@ FusionVector FusionOffsetUpdate(FusionOffset *const offset, FusionVector gyrosco
gyroscope = FusionVectorSubtract(gyroscope, offset->gyroscopeOffset);

// Reset timer if gyroscope not stationary
if ((fabs(gyroscope.axis.x) > THRESHOLD) || (fabs(gyroscope.axis.y) > THRESHOLD) || (fabs(gyroscope.axis.z) > THRESHOLD)) {
if ((fabsf(gyroscope.axis.x) > THRESHOLD) || (fabsf(gyroscope.axis.y) > THRESHOLD) || (fabsf(gyroscope.axis.z) > THRESHOLD)) {
offset->timer = 0;
return gyroscope;
}
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