Proper float constants

PaulStoffregen · Mar 15, 2016 · 6edf8ba · 6edf8ba
1 parent 4391754
commit 6edf8ba
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/MahonyAHRS.h b/src/MahonyAHRS.h
@@ -32,9 +32,9 @@ class Mahony {
 	Mahony();
 	void update(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
 	void updateIMU(float gx, float gy, float gz, float ax, float ay, float az);
-	float getPitch(){return atan2f(2 * q2 * q3 - 2 * q0 * q1, 2 * q0 * q0 + 2 * q3 * q3 - 1);};
-	float getRoll(){return -1 * asinf(2 * q1 * q3 + 2 * q0 * q2);};
-	float getYaw(){return atan2f(2 * q1 * q2 - 2 * q0 * q3, 2 * q0 * q0 + 2 * q1 * q1 - 1);};
+	float getPitch(){return atan2f(2.0f * q2 * q3 - 2.0f * q0 * q1, 2.0f * q0 * q0 + 2.0f * q3 * q3 - 1.0f);};
+	float getRoll(){return -1.0f * asinf(2.0f * q1 * q3 + 2.0f * q0 * q2);};
+	float getYaw(){return atan2f(2.0f * q1 * q2 - 2.0f * q0 * q3, 2.0f * q0 * q0 + 2.0f * q1 * q1 - 1.0f);};
 };
 
 #endif