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Remove unsafe access to .data() and _data in Matrix

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Julian Kent
2019-09-16 11:12:23 +02:00
committed by Daniel Agar
parent 78bf12f0db
commit 2d4ecab3b0
8 changed files with 29 additions and 21 deletions
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src/modules/ekf2/ekf2_main.cpp
+2 -4
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@@ -1323,8 +1323,7 @@ void Ekf2::run()
}
// The rotation of the tangent plane vs. geographical north
matrix::Quatf q;
_ekf.copy_quaternion(q.data());
matrix::Quatf q = _ekf.get_quaternion();
lpos.yaw = matrix::Eulerf(q).psi();
@@ -1787,8 +1786,7 @@ const Vector3f Ekf2::get_vel_body_wind()
{
// Used to correct baro data for positional errors
matrix::Quatf q;
_ekf.copy_quaternion(q.data());
matrix::Quatf q = _ekf.get_quaternion();
matrix::Dcmf R_to_body(q.inversed());
// Calculate wind-compensated velocity in body frame