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add matrix copyTo

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This commit is contained in:
Daniel Agar
2017-02-24 13:49:45 -05:00
committed by Lorenz Meier
parent f43f3baa02
commit ecb2511a7b
6 changed files with 37 additions and 75 deletions
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src/modules/ekf2/ekf2_main.cpp
+2 -8
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@@ -730,10 +730,7 @@ void Ekf2::task_main()
ctrl_state.z_pos = position[2];
// Attitude quaternion
ctrl_state.q[0] = q(0);
ctrl_state.q[1] = q(1);
ctrl_state.q[2] = q(2);
ctrl_state.q[3] = q(3);
q.copyTo(ctrl_state.q);
_ekf.get_quat_reset(&ctrl_state.delta_q_reset[0], &ctrl_state.quat_reset_counter);
@@ -789,10 +786,7 @@ void Ekf2::task_main()
struct vehicle_attitude_s att = {};
att.timestamp = hrt_absolute_time();
att.q[0] = q(0);
att.q[1] = q(1);
att.q[2] = q(2);
att.q[3] = q(3);
q.copyTo(att.q);
att.rollspeed = gyro_rad[0];
att.pitchspeed = gyro_rad[1];