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navigator follow_target move to matrix lib

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This commit is contained in:
Daniel Agar
2018-03-22 11:16:34 -04:00
parent d75087572c
commit 44e3bd6c1c
2 changed files with 8 additions and 12 deletions
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src/modules/navigator/follow_target.cpp
-4
View File
@@ -97,7 +97,6 @@ void FollowTarget::on_activation()
void FollowTarget::on_active()
{
struct map_projection_reference_s target_ref;
math::Vector<3> target_reported_velocity(0, 0, 0);
follow_target_s target_motion_with_offset = {};
uint64_t current_time = hrt_absolute_time();
bool _radius_entered = false;
@@ -128,9 +127,6 @@ void FollowTarget::on_active()
_current_target_motion.lon = (_current_target_motion.lon * (double)_responsiveness) + target_motion.lon * (double)(
1 - _responsiveness);
target_reported_velocity(0) = _current_target_motion.vx;
target_reported_velocity(1) = _current_target_motion.vy;
} else if (((current_time - _current_target_motion.timestamp) / 1000) > TARGET_TIMEOUT_MS && target_velocity_valid()) {
reset_target_validity();
}
src/modules/navigator/follow_target.h
+8 -8
View File
@@ -125,13 +125,13 @@ private:
uint64_t _target_updates{0};
uint64_t _last_update_time{0};
math::Vector<3> _current_vel;
math::Vector<3> _step_vel;
math::Vector<3> _est_target_vel;
math::Vector<3> _target_distance;
math::Vector<3> _target_position_offset;
math::Vector<3> _target_position_delta;
math::Vector<3> _filtered_target_position_delta;
matrix::Vector3f _current_vel;
matrix::Vector3f _step_vel;
matrix::Vector3f _est_target_vel;
matrix::Vector3f _target_distance;
matrix::Vector3f _target_position_offset;
matrix::Vector3f _target_position_delta;
matrix::Vector3f _filtered_target_position_delta;
follow_target_s _current_target_motion{};
follow_target_s _previous_target_motion{};
@@ -148,7 +148,7 @@ private:
ATT_RATES = 3
};
math::Matrix<3, 3> _rot_matrix;
matrix::Dcmf _rot_matrix;
void track_target_position();
void track_target_velocity();