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TECS and L1 switch to matrix math library (#9101)

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This commit is contained in:
Daniel Agar
2018-03-19 18:09:54 -04:00
committed by GitHub
parent e63f9d9bf6
commit b6b7fddb9f
7 changed files with 47 additions and 59 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+8 -18
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@@ -237,7 +237,7 @@ private:
float _groundspeed_undershoot{0.0f}; ///< ground speed error to min. speed in m/s
math::Matrix<3, 3> _R_nb; ///< current attitude
Dcmf _R_nb; ///< current attitude
float _roll{0.0f};
float _pitch{0.0f};
float _yaw{0.0f};
@@ -437,19 +437,19 @@ private:
*/
bool update_desired_altitude(float dt);
bool control_position(const math::Vector<2> &curr_pos, const math::Vector<2> &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
void control_takeoff(const math::Vector<2> &curr_pos, const math::Vector<2> &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
void control_landing(const math::Vector<2> &curr_pos, const math::Vector<2> &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
bool control_position(const Vector2f &curr_pos, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);
void control_takeoff(const Vector2f &curr_pos, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);
void control_landing(const Vector2f &curr_pos, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);
float get_tecs_pitch();
float get_tecs_thrust();
float get_demanded_airspeed();
float calculate_target_airspeed(float airspeed_demand);
void calculate_gndspeed_undershoot(const math::Vector<2> &curr_pos, const math::Vector<2> &ground_speed,
void calculate_gndspeed_undershoot(const Vector2f &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
/**
@@ -457,16 +457,6 @@ private:
*/
void handle_command();
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
*/
void task_main();
void reset_takeoff_state();
void reset_landing_state();