fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 13:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mathlib: get rid of now duplicate sign() function

Browse Source 
Instead use the one that was copied to the matrix library in
https://github.com/PX4/Matrix/pull/116/
This commit is contained in:
Matthias Grob
2020-03-17 10:01:42 +01:00
parent d313b0417a
commit eb3b0f6b55
9 changed files with 20 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.cpp
+3 -1
View File
@@ -39,6 +39,8 @@
#include "zero_order_hover_thrust_ekf.hpp"
using matrix::sign;
void ZeroOrderHoverThrustEkf::predict(const float dt)
{
// State is constant
@@ -69,7 +71,7 @@ void ZeroOrderHoverThrustEkf::fuseAccZ(const float acc_z, const float thrust, st
bumpStateVariance();
}
const float signed_innov_test_ratio = math::sign(innov) * innov_test_ratio;
const float signed_innov_test_ratio = sign(innov) * innov_test_ratio;
updateLpf(residual, signed_innov_test_ratio);
updateMeasurementNoise(residual, H);
src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+1 -1
View File
@@ -219,7 +219,7 @@ void PositionControl::_velocityControl(const float dt)
_vel_int += vel_error.emult(_gain_vel_i) * dt;
// limit thrust integral
_vel_int(2) = math::min(fabsf(_vel_int(2)), _lim_thr_max) * math::sign(_vel_int(2));
_vel_int(2) = math::min(fabsf(_vel_int(2)), _lim_thr_max) * sign(_vel_int(2));
}
bool PositionControl::_updateSuccessful()
src/modules/rover_pos_control/RoverPositionControl.cpp
+2 -4
View File
@@ -47,9 +47,7 @@
#define ACTUATOR_PUBLISH_PERIOD_MS 4
using matrix::Eulerf;
using matrix::Quatf;
using matrix::Vector3f;
using namespace matrix;
/**
* L1 control app start / stop handling function
@@ -261,7 +259,7 @@ RoverPositionControl::control_position(const matrix::Vector2f &current_position,
float desired_r = ground_speed_2d.norm_squared() / math::abs_t(_gnd_control.nav_lateral_acceleration_demand());
float desired_theta = (0.5f * M_PI_F) - atan2f(desired_r, _param_wheel_base.get());
float control_effort = (desired_theta / _param_max_turn_angle.get()) * math::sign(
float control_effort = (desired_theta / _param_max_turn_angle.get()) * sign(
_gnd_control.nav_lateral_acceleration_demand());
control_effort = math::constrain(control_effort, -1.0f, 1.0f);
_act_controls.control[actuator_controls_s::INDEX_YAW] = control_effort;