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EKF: fix shadow declaration arising from rebase

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Paul Riseborough
2016-05-08 16:32:12 +10:00
parent b985e58333
commit 59eb9eb3db
1 changed files with 4 additions and 4 deletions
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EKF/mag_fusion.cpp
+4 -4
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@@ -435,9 +435,9 @@ void Ekf::fuseHeading()
measured_hdg = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + _mag_declination;
} else if (_control_status.flags.ev_yaw) {
// convert the observed quaternion to a rotation matrix
matrix::Dcm<float> R_to_earth(_ev_sample_delayed.quat); // transformation matrix from body to world frame
matrix::Dcm<float> R_to_earth_ev(_ev_sample_delayed.quat); // transformation matrix from body to world frame
// calculate the yaw angle for a 312 sequence
measured_hdg = atan2f(R_to_earth(1, 0) , R_to_earth(0, 0));
measured_hdg = atan2f(R_to_earth_ev(1, 0) , R_to_earth_ev(0, 0));
} else {
// there is no yaw observation
return;
@@ -513,9 +513,9 @@ void Ekf::fuseHeading()
measured_hdg = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + _mag_declination;
} else if (_control_status.flags.ev_yaw) {
// convert the observed quaternion to a rotation matrix
matrix::Dcm<float> R_to_earth(_ev_sample_delayed.quat); // transformation matrix from body to world frame
matrix::Dcm<float> R_to_earth_ev(_ev_sample_delayed.quat); // transformation matrix from body to world frame
// calculate the yaw angle for a 312 sequence
measured_hdg = atan2f(-R_to_earth(0, 1) , R_to_earth(1, 1));
measured_hdg = atan2f(-R_to_earth_ev(0, 1) , R_to_earth_ev(1, 1));
} else {
// there is no yaw observation
return;