Fix double promotion

xioTechnologies · Apr 29, 2024 · 8b5fc82 · 8b5fc82
1 parent cc373cb
commit 8b5fc82
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/Fusion/FusionAhrs.c b/Fusion/FusionAhrs.c
@@ -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
@@ -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;

diff --git a/Fusion/FusionOffset.c b/Fusion/FusionOffset.c
@@ -9,7 +9,7 @@
 // Includes
 
 #include "FusionOffset.h"
-#include <math.h> // fabs
+#include <math.h> // fabsf
 
 //------------------------------------------------------------------------------
 // Definitions
@@ -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;
     }