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Matrix Quaternions: Apply simpler call for constructor and copying to all remaining modules

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This commit is contained in:
Matthias Grob 2017-09-04 04:54:35 +02:00 committed by Beat Küng
parent 2941cea384
commit 5bea264a5f
3 changed files with 3 additions and 3 deletions
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2
src/modules/ekf2/ekf2_main.cpp
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@ -841,7 +841,7 @@ void Ekf2::run()
_integrated_time_us += sensors.gyro_integral_dt;
}
matrix::Quaternion<float> q;
matrix::Quatf q;
_ekf.copy_quaternion(q.data());
float velocity[3];

2
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
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@ -807,7 +807,7 @@ void BlockLocalPositionEstimator::updateSSParams()
void BlockLocalPositionEstimator::predict()
{
// get acceleration
matrix::Quaternion<float> q(&_sub_att.get().q[0]);
matrix::Quatf q(&_sub_att.get().q[0]);
_eul = matrix::Euler<float>(q);
_R_att = matrix::Dcm<float>(q);
Vector3f a(_sub_sensor.get().accelerometer_m_s2);

2
src/modules/vtol_att_control/standard.cpp
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@ -474,7 +474,7 @@ void Standard::update_mc_state()
_v_att_sp->roll_body = -asinf(tilt_new(1));
R_sp = matrix::Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, euler_sp(2));
matrix::Quatf q_sp(R_sp);
memcpy(&_v_att_sp->q_d[0], &q_sp._data[0], sizeof(_v_att_sp->q_d));
q_sp.copyTo(_v_att_sp->q_d);
}
_pusher_throttle = _pusher_throttle < 0.0f ? 0.0f : _pusher_throttle;