From c8f3f07ff7296d4fb4e23aa7114f60ffa9ed9d3a Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 3 Oct 2019 09:29:49 +0200 Subject: [PATCH] matrix: pull explicit constructors --- src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp | 4 ++-- src/lib/matrix | 2 +- src/modules/navigator/follow_target.cpp | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp index 3d34199e84..a4677e8222 100644 --- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp +++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp @@ -95,8 +95,8 @@ void ObstacleAvoidance::injectAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel } if (avoidance_point_valid) { - pos_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position; - vel_sp = _sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity; + pos_sp = Vector3f(_sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].position); + vel_sp = Vector3f(_sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity); if (!_ext_yaw_active) { // inject yaw setpoints only if weathervane isn't active diff --git a/src/lib/matrix b/src/lib/matrix index 973999a4d3..92d1c8761e 160000 --- a/src/lib/matrix +++ b/src/lib/matrix @@ -1 +1 @@ -Subproject commit 973999a4d3c6d4d85bf0153230974fd9571f7846 +Subproject commit 92d1c8761ec8e5dbe9ba3f756cebd5e90956a1b2 diff --git a/src/modules/navigator/follow_target.cpp b/src/modules/navigator/follow_target.cpp index b34b45e423..629161a84b 100644 --- a/src/modules/navigator/follow_target.cpp +++ b/src/modules/navigator/follow_target.cpp @@ -56,7 +56,7 @@ #include "navigator.h" -using matrix::wrap_pi; +using namespace matrix; constexpr float FollowTarget::_follow_position_matricies[4][9]; @@ -89,7 +89,7 @@ void FollowTarget::on_activation() _follow_target_position = FOLLOW_FROM_BEHIND; } - _rot_matrix = (_follow_position_matricies[_follow_target_position]); + _rot_matrix = Dcmf(_follow_position_matricies[_follow_target_position]); } void FollowTarget::on_active()