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tecs and l1 switch to matrix math library (#409)

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This commit is contained in:
Daniel Agar
2018-03-18 21:59:41 -04:00
committed by GitHub
parent 1bc7378414
commit 35bc2cfcd9
4 changed files with 108 additions and 163 deletions
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tecs/tecs.cpp
+4 -4
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@@ -51,8 +51,8 @@ using math::min;
* inertial nav data is not available. It also calculates a true airspeed derivative
* which is used by the airspeed complimentary filter.
*/
void TECS::update_vehicle_state_estimates(float airspeed, const math::Matrix<3, 3> &rotMat,
const math::Vector<3> &accel_body, bool altitude_lock, bool in_air,
void TECS::update_vehicle_state_estimates(float airspeed, const matrix::Dcmf &rotMat,
const matrix::Vector3f &accel_body, bool altitude_lock, bool in_air,
float altitude, bool vz_valid, float vz, float az)
{
@@ -306,7 +306,7 @@ void TECS::_update_energy_estimates()
_SKE_rate = _tas_state * _speed_derivative;// kinetic energy rate of change
}
void TECS::_update_throttle_setpoint(const float throttle_cruise, const math::Matrix<3, 3> &rotMat)
void TECS::_update_throttle_setpoint(const float throttle_cruise, const matrix::Dcmf &rotMat)
{
// Calculate total energy error
_STE_error = _SPE_setpoint - _SPE_estimate + _SKE_setpoint - _SKE_estimate;
@@ -575,7 +575,7 @@ void TECS::_update_STE_rate_lim()
_STE_rate_min = - _min_sink_rate * CONSTANTS_ONE_G;
}
void TECS::update_pitch_throttle(const math::Matrix<3, 3> &rotMat, float pitch, float baro_altitude, float hgt_setpoint,
void TECS::update_pitch_throttle(const matrix::Dcmf &rotMat, float pitch, float baro_altitude, float hgt_setpoint,
float EAS_setpoint, float indicated_airspeed, float eas_to_tas, bool climb_out_setpoint, float pitch_min_climbout,
float throttle_min, float throttle_max, float throttle_cruise, float pitch_limit_min, float pitch_limit_max)
{