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Replaced wigen with custom matrix lib.

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This commit is contained in:
jgoppert
2015-10-24 15:10:20 -04:00
parent 0106be3e89
commit 6cce823dc6
8 changed files with 26 additions and 31 deletions
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src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+6 -6
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@@ -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 */