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attitude setpoint topic: cleanup of matrix class usage

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-10-18 20:46:08 +02:00
committed by Lorenz Meier
parent ee314d2f50
commit 3faaeb06d1
10 changed files with 31 additions and 44 deletions
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src/examples/rover_steering_control/main.cpp
+1 -5
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@@ -179,11 +179,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
/*
* Calculate roll error and apply P gain
*/
matrix::Quaternion<float> q(&att->q[0]);
matrix::Euler<float> euler(q);
matrix::Quaternion<float> q_sp(&att_sp->q_d[0]);
matrix::Euler<float> euler_sp(q_sp);
float yaw_err = euler(2) - euler_sp(2);
float yaw_err = Eulerf(Quaternion(att->q)).psi() - Eulerf(Quaternion(att->q_d)).psi();
actuators->control[2] = yaw_err * pp.yaw_p;
/* copy throttle */