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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
2016-09-27 22:03:36 +02:00
committed by Lorenz Meier
parent ee314d2f50
commit 3faaeb06d1
10 changed files with 31 additions and 44 deletions
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src/modules/commander/accelerometer_calibration.cpp
+3 -4
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@@ -687,10 +687,9 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub) {
}
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
matrix::Quaternion<float> q(&att.q[0]);
matrix::Euler<float> euler(q);
roll_mean += euler(0);
pitch_mean += euler(1);
matrix::Eulerf euler = matrix::Quatf(att.q);
roll_mean += euler.phi();
pitch_mean += euler.theta();
counter++;
}
src/modules/commander/commander.cpp
+2 -3
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@@ -1168,9 +1168,8 @@ static void commander_set_home_position(orb_advert_t &homePub, home_position_s &
home.y = localPosition.y;
home.z = localPosition.z;
matrix::Quaternion<float> q(&attitude.q[0]);
matrix::Euler<float> euler(q);
home.yaw = euler(2);
matrix::Eulerf euler = matrix::Quatf(attitude.q);
home.yaw = euler.psi();
PX4_INFO("home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
src/modules/local_position_estimator/sensors/flow.cpp
+2 -3
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@@ -64,10 +64,9 @@ int BlockLocalPositionEstimator::flowMeasure(Vector<float, n_y_flow> &y)
return -1;
}
matrix::Quaternion<float> q(&_sub_att.get().q[0]);
matrix::Euler<float> euler(q);
matrix::Eulerf euler = matrix::Quatf(_sub_att.get().q);
float d = agl() * cosf(euler(0)) * cosf(euler(1));
float d = agl() * cosf(euler.phi()) * cosf(euler.theta());
// optical flow in x, y axis
// TODO consider making flow scale a states of the kalman filter
src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+2 -4
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@@ -500,8 +500,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* sensor combined */
orb_check(sensor_combined_sub, &updated);
matrix::Quaternion<float> q(&att.q[0]);
matrix::Dcm<float> R(q);
matrix::Dcmf R = matrix::Quatf(att.q);
if (updated) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
@@ -944,8 +943,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
}
matrix::Quaternion<float> q(&att.q[0]);
matrix::Dcm<float> R(q);
matrix::Dcm<float> R = matrix::Quatf(att.q);
/* check for timeout on FLOW topic */
if ((flow_valid || lidar_valid) && t > (flow_time + flow_topic_timeout)) {