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Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge

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Conflicts:
	src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h
This commit is contained in:
Thomas Gubler
2015-01-21 14:41:03 +01:00
parent 3a38b0fe35 e8e4a3b5da
commit dcdde8ea88
57 changed files with 2157 additions and 3259 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
-38
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@@ -595,44 +595,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
memcpy(&att.R[0], &R.data[0][0], sizeof(att.R));
att.R_valid = true;
// compute secondary attitude
math::Matrix<3, 3> R_adapted; //modified rotation matrix
R_adapted = R;
//move z to x
R_adapted(0, 0) = R(0, 2);
R_adapted(1, 0) = R(1, 2);
R_adapted(2, 0) = R(2, 2);
//move x to z
R_adapted(0, 2) = R(0, 0);
R_adapted(1, 2) = R(1, 0);
R_adapted(2, 2) = R(2, 0);
//change direction of pitch (convert to right handed system)
R_adapted(0, 0) = -R_adapted(0, 0);
R_adapted(1, 0) = -R_adapted(1, 0);
R_adapted(2, 0) = -R_adapted(2, 0);
math::Vector<3> euler_angles_sec; //adapted euler angles for fixed wing operation
euler_angles_sec = R_adapted.to_euler();
att.roll_sec = euler_angles_sec(0);
att.pitch_sec = euler_angles_sec(1);
att.yaw_sec = euler_angles_sec(2);
memcpy(&att.R_sec[0], &R_adapted.data[0][0], sizeof(att.R_sec));
att.rollspeed_sec = -x_aposteriori[2];
att.pitchspeed_sec = x_aposteriori[1];
att.yawspeed_sec = x_aposteriori[0];
att.rollacc_sec = -x_aposteriori[5];
att.pitchacc_sec = x_aposteriori[4];
att.yawacc_sec = x_aposteriori[3];
att.g_comp_sec[0] = -raw.accelerometer_m_s2[2] - (-acc(2));
att.g_comp_sec[1] = raw.accelerometer_m_s2[1] - acc(1);
att.g_comp_sec[2] = raw.accelerometer_m_s2[0] - acc(0);
if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) {
// Broadcast
orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);