Change float32 types to float64 types to match AHRS library outputs.

main/equations.go

@@ -250,7 +250,7 @@ func degreesHdg(angle float64) float64 {
 }
 
 // roundToInt16 cheaply rounds a float64 to an int16, rather than truncating
-func roundToInt16(in float32) (out int16) {
+func roundToInt16(in float64) (out int16) {
 	if in >= 0 {
 		out = int16(in + 0.5)
 	} else {

main/gps.go

@@ -87,15 +87,15 @@ type SituationData struct {
 
 	// From AHRS source.
 	muAttitude           *sync.Mutex
-	AHRSPitch            float32
-	AHRSRoll             float32
-	AHRSGyroHeading      float32
-	AHRSMagHeading       float32
-	AHRSSlipSkid         float32
-	AHRSTurnRate         float32
-	AHRSGLoad            float32
-	AHRSGLoadMin         float32
-	AHRSGLoadMax         float32
+	AHRSPitch            float64
+	AHRSRoll             float64
+	AHRSGyroHeading      float64
+	AHRSMagHeading       float64
+	AHRSSlipSkid         float64
+	AHRSTurnRate         float64
+	AHRSGLoad            float64
+	AHRSGLoadMin         float64
+	AHRSGLoadMax         float64
 	AHRSLastAttitudeTime time.Time
 	AHRSStatus           uint8
 }
@@ -1874,7 +1874,7 @@ func makeAHRSGDL90Report() {
 	}
 	if isTempPressValid() {
 		palt = uint16(mySituation.BaroPressureAltitude + 5000.5)
-		vs = roundToInt16(mySituation.BaroVerticalSpeed)
+		vs = roundToInt16(float64(mySituation.BaroVerticalSpeed))
 	}
 
 	// Roll.
@@ -1936,9 +1936,9 @@ func gpsAttitudeSender() {
 				mySituation.muGPSPerformance.Lock()
 				index := len(myGPSPerfStats) - 1
 				if index > 1 {
-					mySituation.AHRSPitch = float32(myGPSPerfStats[index].gpsPitch)
-					mySituation.AHRSRoll = float32(myGPSPerfStats[index].gpsRoll)
-					mySituation.AHRSGyroHeading = mySituation.GPSTrueCourse
+					mySituation.AHRSPitch = myGPSPerfStats[index].gpsPitch
+					mySituation.AHRSRoll = myGPSPerfStats[index].gpsRoll
+					mySituation.AHRSGyroHeading = float64(mySituation.GPSTrueCourse)
 					mySituation.AHRSLastAttitudeTime = stratuxClock.Time
 
 					makeAHRSGDL90Report()

main/sensors.go

@@ -278,15 +278,15 @@ func sensorAttitudeSender() {
 			mySituation.muAttitude.Lock()
 			if s.Valid() {
 				roll, pitch, heading = s.RollPitchHeading()
-				mySituation.AHRSRoll = float32(roll / ahrs.Deg)
-				mySituation.AHRSPitch = float32(pitch / ahrs.Deg)
-				mySituation.AHRSGyroHeading = float32(heading / ahrs.Deg)
+				mySituation.AHRSRoll = roll / ahrs.Deg
+				mySituation.AHRSPitch = pitch / ahrs.Deg
+				mySituation.AHRSGyroHeading = heading / ahrs.Deg
 
 				// TODO westphae: until magnetometer calibration is performed, no mag heading
 				mySituation.AHRSMagHeading = ahrs.Invalid
-				mySituation.AHRSSlipSkid = float32(s.SlipSkid())
-				mySituation.AHRSTurnRate = float32(s.RateOfTurn())
-				mySituation.AHRSGLoad = float32(s.GLoad())
+				mySituation.AHRSSlipSkid = s.SlipSkid()
+				mySituation.AHRSTurnRate = s.RateOfTurn()
+				mySituation.AHRSGLoad = s.GLoad()
 				if mySituation.AHRSGLoad < mySituation.AHRSGLoadMin || mySituation.AHRSGLoadMin == 0 {
 					mySituation.AHRSGLoadMin = mySituation.AHRSGLoad
 				}
@@ -462,6 +462,6 @@ func updateAHRSStatus() {
 	}
 }
 
-func isAHRSInvalidValue(val float32) bool {
-	return math.Abs(float64(val)-float64(ahrs.Invalid)) < 0.01
+func isAHRSInvalidValue(val float64) bool {
+	return math.Abs(val-ahrs.Invalid) < 0.01
 }