fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-02 18:10:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Replaced wigen with custom matrix lib.

Browse Source
This commit is contained in:
jgoppert
2015-10-24 15:06:59 -04:00
parent 0106be3e89
commit 6cce823dc6
8 changed files with 26 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander_helper.cpp
+1 -1
View File
@@ -387,7 +387,7 @@ float battery_remaining_estimate_voltage(float voltage, float discharged, float
// XXX this time constant needs to become tunable
// but really, the right fix are smart batteries.
float val = throttle_lowpassed * 0.97f + throttle_normalized * 0.03f;
if (isfinite(val)) {
if (PX4_ISFINITE(val)) {
throttle_lowpassed = val;
}
src/modules/controllib/blocks.cpp
+2 -2
View File
@@ -123,7 +123,7 @@ int blockLimitSymTest()
float BlockLowPass::update(float input)
{
if (!isfinite(getState())) {
if (!PX4_ISFINITE(getState())) {
setState(input);
}
@@ -203,7 +203,7 @@ int blockHighPassTest()
float BlockLowPass2::update(float input)
{
if (!isfinite(getState())) {
if (!PX4_ISFINITE(getState())) {
setState(input);
}
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+6 -6
View File
@@ -88,8 +88,8 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti
float airspeedSp, unsigned mode, LimitOverride limitOverride)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(altitude) ||
!isfinite(altitudeSp) || !isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) {
if (!PX4_ISFINITE(flightPathAngle) || !PX4_ISFINITE(altitude) ||
!PX4_ISFINITE(altitudeSp) || !PX4_ISFINITE(airspeed) || !PX4_ISFINITE(airspeedSp) || !PX4_ISFINITE(mode)) {
return -1;
}
@@ -125,8 +125,8 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
float airspeedSp, unsigned mode, LimitOverride limitOverride)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
!isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) {
if (!PX4_ISFINITE(flightPathAngle) || !PX4_ISFINITE(flightPathAngleSp) ||
!PX4_ISFINITE(airspeed) || !PX4_ISFINITE(airspeedSp) || !PX4_ISFINITE(mode)) {
return -1;
}
@@ -163,8 +163,8 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
float accelerationLongitudinalSp, unsigned mode, LimitOverride limitOverride)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
!isfinite(airspeedFiltered) || !isfinite(accelerationLongitudinalSp) || !isfinite(mode)) {
if (!PX4_ISFINITE(flightPathAngle) || !PX4_ISFINITE(flightPathAngleSp) ||
!PX4_ISFINITE(airspeedFiltered) || !PX4_ISFINITE(accelerationLongitudinalSp) || !PX4_ISFINITE(mode)) {
return -1;
}
/* time measurement */
src/modules/local_position_estimator/matrix/src/Matrix.hpp
+4
View File
@@ -58,6 +58,10 @@ public:
* Accessors/ Assignment etc.
*/
T * data() {
return _data[0];
}
inline size_t rows() const
{
return _rows;
src/modules/navigator/mission_block.cpp
+1 -1
View File
@@ -153,7 +153,7 @@ MissionBlock::is_mission_item_reached()
if (_waypoint_position_reached && !_waypoint_yaw_reached) {
/* TODO: removed takeoff, why? */
if (_navigator->get_vstatus()->is_rotary_wing && isfinite(_mission_item.yaw)) {
if (_navigator->get_vstatus()->is_rotary_wing && PX4_ISFINITE(_mission_item.yaw)) {
/* check yaw if defined only for rotary wing except takeoff */
float yaw_err = _wrap_pi(_mission_item.yaw - _navigator->get_global_position()->yaw);