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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.h
+4 -4
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@@ -72,14 +72,14 @@ public:
* Must be called prior to udating tecs control loops
* Must be called at 50Hz or greater
*/
void 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 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);
/**
* Update the control loop calculations
*/
void update_pitch_throttle(const math::Matrix<3, 3> &rotMat, float pitch, float baro_altitude, float hgt_setpoint,
void 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_setpoint_max, float throttle_cruise,
float pitch_limit_min, float pitch_limit_max);
@@ -306,7 +306,7 @@ private:
/**
* Update throttle setpoint
*/
void _update_throttle_setpoint(float throttle_cruise, const math::Matrix<3, 3> &rotMat);
void _update_throttle_setpoint(float throttle_cruise, const matrix::Dcmf &rotMat);
/**
* Detect an uncommanded descent