@ -94,7 +94,7 @@ void Ekf::fuseDrag()
@@ -94,7 +94,7 @@ void Ekf::fuseDrag()
// Estimate the derivative of specific force wrt airspeed along the X axis
// Limit lower value to prevent arithmetic exceptions
float Kacc = fmax ( 1e-1 f , rho * BC_inv_x * airSpd ) ;
float Kacc = fmaxf ( 1e-1 f , rho * BC_inv_x * airSpd ) ;
SH_ACC [ 0 ] = sq ( q0 ) + sq ( q1 ) - sq ( q2 ) - sq ( q3 ) ;
SH_ACC [ 1 ] = vn - vwn ;
@ -164,7 +164,7 @@ void Ekf::fuseDrag()
@@ -164,7 +164,7 @@ void Ekf::fuseDrag()
// Estimate the derivative of specific force wrt airspeed along the X axis
// Limit lower value to prevent arithmetic exceptions
float Kacc = fmax ( 1e-1 f , rho * BC_inv_y * airSpd ) ;
float Kacc = fmaxf ( 1e-1 f , rho * BC_inv_y * airSpd ) ;
SH_ACC [ 0 ] = sq ( q0 ) - sq ( q1 ) + sq ( q2 ) - sq ( q3 ) ;
SH_ACC [ 1 ] = vn - vwn ;