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mathlib delete Matrix, Quaternion, Vector

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This commit is contained in:
Daniel Agar
2018-05-23 17:27:09 -04:00
parent 0d7b5c4a4e
commit 222a91c6be
32 changed files with 160 additions and 1746 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+3 -3
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@@ -242,9 +242,9 @@ void Tailsitter::update_transition_state()
_v_att_sp->roll_body = 0.0f;
_v_att_sp->yaw_body = _yaw_transition;
math::Quaternion q_sp;
q_sp.from_euler(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body);
memcpy(&_v_att_sp->q_d[0], &q_sp.data[0], sizeof(_v_att_sp->q_d));
matrix::Quatf q_sp = matrix::Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body);
q_sp.copyTo(_v_att_sp->q_d);
_v_att_sp->q_d_valid = true;
}
void Tailsitter::waiting_on_tecs()
src/modules/vtol_att_control/vtol_att_control_main.h
+2 -1
View File
@@ -58,7 +58,8 @@
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
#include <parameters/param.h>
#include <uORB/topics/actuator_controls.h>