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This commit is contained in:
James Goppert 2013-01-13 18:38:09 -05:00
parent ea3ce8de85
commit 56e15ab1f4
5 changed files with 45 additions and 51 deletions
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30
apps/mathlib/math/Dcm.cpp
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@ -138,25 +138,25 @@ int __EXPORT dcmTest()
Matrix::identity(3)));
// quaternion ctor
ASSERT(matrixEqual(
Dcm(Quaternion(0.983347, 0.034271, 0.106021, 0.143572)),
Dcm( 0.9362934, -0.2750958, 0.2183507,
0.2896295, 0.9564251, -0.0369570,
-0.1986693, 0.0978434, 0.9751703)));
Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)),
Dcm( 0.9362934f, -0.2750958f, 0.2183507f,
0.2896295f, 0.9564251f, -0.0369570f,
-0.1986693f, 0.0978434f, 0.9751703f)));
// euler angle ctor
ASSERT(matrixEqual(
Dcm(EulerAngles(0.1, 0.2, 0.3)),
Dcm( 0.9362934, -0.2750958, 0.2183507,
0.2896295, 0.9564251, -0.0369570,
-0.1986693, 0.0978434, 0.9751703)));
Dcm(EulerAngles(0.1f, 0.2f, 0.3f)),
Dcm( 0.9362934f, -0.2750958f, 0.2183507f,
0.2896295f, 0.9564251f, -0.0369570f,
-0.1986693f, 0.0978434f, 0.9751703f)));
// rotations
Vector3 vB(1, 2, 3);
ASSERT(vectorEqual(Vector3(-2, 1, 3),
Dcm(EulerAngles(0, 0, M_PI_2_F))*vB));
ASSERT(vectorEqual(Vector3(3, 2, -1),
Dcm(EulerAngles(0, M_PI_2_F, 0))*vB));
ASSERT(vectorEqual(Vector3(1, -3, 2),
Dcm(EulerAngles(M_PI_2_F, 0, 0))*vB));
ASSERT(vectorEqual(Vector3(3, 2, -1),
ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f),
Dcm(EulerAngles(0.0f, 0.0f, M_PI_2_F))*vB));
ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
Dcm(EulerAngles(0.0f, M_PI_2_F, 0.0f))*vB));
ASSERT(vectorEqual(Vector3(1.0f, -3.0f, 2.0f),
Dcm(EulerAngles(M_PI_2_F, 0.0f, 0.0f))*vB));
ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
Dcm(EulerAngles(
M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB));
printf("PASS\n");

26
apps/mathlib/math/EulerAngles.cpp
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@ -97,27 +97,27 @@ EulerAngles::~EulerAngles()
int __EXPORT eulerAnglesTest()
{
printf("Test EulerAngles\t: ");
EulerAngles euler(0.1, 0.2, 0.3);
EulerAngles euler(0.1f, 0.2f, 0.3f);
// test ctor
ASSERT(vectorEqual(Vector3(0.1, 0.2, 0.3), euler));
ASSERT(equal(euler.getPhi(), 0.1));
ASSERT(equal(euler.getTheta(), 0.2));
ASSERT(equal(euler.getPsi(), 0.3));
ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
ASSERT(equal(euler.getPhi(), 0.1f));
ASSERT(equal(euler.getTheta(), 0.2f));
ASSERT(equal(euler.getPsi(), 0.3f));
// test dcm ctor
euler = Dcm(EulerAngles(0.1,0.2,0.3));
ASSERT(vectorEqual(Vector3(0.1,0.2,0.3),euler));
euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f));
ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f),euler));
// test quat ctor
euler = Quaternion(EulerAngles(0.1,0.2,0.3));
ASSERT(vectorEqual(Vector3(0.1,0.2,0.3),euler));
euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f),euler));
// test assignment
euler.setPhi(0.4);
euler.setTheta(0.5);
euler.setPsi(0.6);
ASSERT(vectorEqual(Vector3(0.4,0.5,0.6),euler));
euler.setPhi(0.4f);
euler.setTheta(0.5f);
euler.setPsi(0.6f);
ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f),euler));
printf("PASS\n");
return 0;

34
apps/mathlib/math/Quaternion.cpp
View File

@ -144,29 +144,29 @@ int __EXPORT quaternionTest()
printf("Test Quaternion\t\t: ");
// test default ctor
Quaternion q;
ASSERT(equal(q.getA(), 1));
ASSERT(equal(q.getB(), 0));
ASSERT(equal(q.getC(), 0));
ASSERT(equal(q.getD(), 0));
ASSERT(equal(q.getA(), 1.0f));
ASSERT(equal(q.getB(), 0.0f));
ASSERT(equal(q.getC(), 0.0f));
ASSERT(equal(q.getD(), 0.0f));
// test float ctor
q = Quaternion(0.1825742, 0.3651484, 0.5477226, 0.7302967);
ASSERT(equal(q.getA(), 0.1825742));
ASSERT(equal(q.getB(), 0.3651484));
ASSERT(equal(q.getC(), 0.5477226));
ASSERT(equal(q.getD(), 0.7302967));
q = Quaternion(0.1825742f, 0.3651484f, 0.5477226f, 0.7302967f);
ASSERT(equal(q.getA(), 0.1825742f));
ASSERT(equal(q.getB(), 0.3651484f));
ASSERT(equal(q.getC(), 0.5477226f));
ASSERT(equal(q.getD(), 0.7302967f));
// test euler ctor
q = Quaternion(EulerAngles(0.1, 0.2, 0.3));
ASSERT(vectorEqual(q, Quaternion(0.983347, 0.034271, 0.106021, 0.143572)));
q = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
ASSERT(vectorEqual(q, Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)));
// test dcm ctor
q = Quaternion(Dcm());
ASSERT(vectorEqual(q, Quaternion(1, 0, 0, 0)));
ASSERT(vectorEqual(q, Quaternion(1.0f, 0.0f, 0.0f, 0.0f)));
// TODO test derivative
// test accessors
q.setA(0.1);
q.setB(0.2);
q.setC(0.3);
q.setD(0.4);
ASSERT(vectorEqual(q, Quaternion(0.1, 0.2, 0.3, 0.4)));
q.setA(0.1f);
q.setB(0.2f);
q.setC(0.3f);
q.setD(0.4f);
ASSERT(vectorEqual(q, Quaternion(0.1f, 0.2f, 0.3f, 0.4f)));
printf("PASS\n");
return 0;
}

5
apps/mavlink/mavlink_receiver.c
View File

@ -346,11 +346,6 @@ handle_message(mavlink_message_t *msg)
hil_sensors.adc_voltage_v[1] = 0;
hil_sensors.adc_voltage_v[2] = 0;
/* battery */
hil_sensors.battery_voltage_counter = hil_counter;
hil_sensors.battery_voltage_v = 11.1f;
hil_sensors.battery_voltage_valid = true;
/* magnetometer */
float mga2ga = 1.0e-3f;
hil_sensors.magnetometer_counter = hil_counter;

1
apps/uORB/topics/sensor_combined.h
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@ -99,7 +99,6 @@ struct sensor_combined_s {
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro_alt_meter; /**< Altitude, already temp. comp. */
float baro_temp_celcius; /**< Temperature in degrees celsius */
float battery_voltage_v; /**< Battery voltage in volts, filtered */
float adc_voltage_v[4]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
float mcu_temp_celcius; /**< Internal temperature measurement of MCU */
uint32_t baro_counter; /**< Number of raw baro measurements taken */