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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/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)) {