fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 12:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

attitude setpoint topic: cleanup of matrix class usage

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+2 -4
View File
@@ -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)) {