Pr update matrix (#15520)

* Update submodule Matrix

* replace deprecated matrix functions

* update submodule ECL

* Update Matrix submodule

* Use absolute value of loiter radius

* Update ECL submodule

src/modules/navigator/mission_block.cpp

@@ -440,7 +440,7 @@ MissionBlock::is_mission_item_reached()
 
 				// Replace current setpoint lat/lon with tangent coordinate
 				waypoint_from_heading_and_distance(curr_sp.lat, curr_sp.lon,
-								   bearing, curr_sp.loiter_radius,
+								   bearing, fabsf(curr_sp.loiter_radius),
 								   &curr_sp.lat, &curr_sp.lon);
 			}
 

src/modules/sih/sih.cpp

@@ -268,7 +268,7 @@ void Sih::generate_force_and_torques()
 // apply the equations of motion of a rigid body and integrate one step
 void Sih::equations_of_motion()
 {
-	_C_IB = _q.to_dcm(); // body to inertial transformation
+	_C_IB = matrix::Dcm<float>(_q); // body to inertial transformation
 
 	// Equations of motion of a rigid body
 	_p_I_dot = _v_I;                        // position differential

src/modules/uuv_att_control/uuv_att_control.cpp

@@ -200,7 +200,7 @@ void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &att, con
 
 	/* get current rotation matrix from control state quaternions */
 	Quatf q_att(att.q[0], att.q[1], att.q[2], att.q[3]);
-	Matrix3f _rot_att = q_att.to_dcm();
+	Matrix3f _rot_att =  matrix::Dcm<float>(q_att);
 
 	Vector3f e_R_vec;
 	Vector3f torques;