From fe37ee2b7f8ea9df1fa146d4d6c0804f7293d897 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 26 Jun 2019 14:25:58 +0100 Subject: [PATCH] voted_sensors_update: refactor out matrix:: because of using namespace --- src/modules/sensors/voted_sensors_update.cpp | 32 ++++++++++---------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp index c70b87aec7..43b6394b9c 100644 --- a/src/modules/sensors/voted_sensors_update.cpp +++ b/src/modules/sensors/voted_sensors_update.cpp @@ -133,10 +133,10 @@ void VotedSensorsUpdate::deinit() void VotedSensorsUpdate::parameters_update() { /* fine tune board offset */ - matrix::Dcmf board_rotation_offset = matrix::Eulerf( - M_DEG_TO_RAD_F * _parameters.board_offset[0], - M_DEG_TO_RAD_F * _parameters.board_offset[1], - M_DEG_TO_RAD_F * _parameters.board_offset[2]); + Dcmf board_rotation_offset = Eulerf( + M_DEG_TO_RAD_F * _parameters.board_offset[0], + M_DEG_TO_RAD_F * _parameters.board_offset[1], + M_DEG_TO_RAD_F * _parameters.board_offset[2]); _board_rotation = board_rotation_offset * get_rot_matrix((enum Rotation)_parameters.board_rotation); @@ -557,7 +557,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw) _accel_device_id[uorb_index] = accel_report.device_id; - matrix::Vector3f accel_data; + Vector3f accel_data; if (accel_report.integral_dt != 0) { /* @@ -569,9 +569,9 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw) // convert the delta velocities to an equivalent acceleration before application of corrections float dt_inv = 1.e6f / accel_report.integral_dt; - accel_data = matrix::Vector3f(accel_report.x_integral * dt_inv, - accel_report.y_integral * dt_inv, - accel_report.z_integral * dt_inv); + accel_data = Vector3f(accel_report.x_integral * dt_inv, + accel_report.y_integral * dt_inv, + accel_report.z_integral * dt_inv); _last_sensor_data[uorb_index].accelerometer_integral_dt = accel_report.integral_dt; @@ -580,7 +580,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw) // Correct each sensor for temperature effects // Filtering and/or downsampling of temperature should be performed in the driver layer - accel_data = matrix::Vector3f(accel_report.x, accel_report.y, accel_report.z); + accel_data = Vector3f(accel_report.x, accel_report.y, accel_report.z); // handle the cse where this is our first output if (_last_accel_timestamp[uorb_index] == 0) { @@ -664,7 +664,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw) _gyro_device_id[uorb_index] = gyro_report.device_id; - matrix::Vector3f gyro_rate; + Vector3f gyro_rate; if (gyro_report.integral_dt != 0) { /* @@ -676,9 +676,9 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw) // convert the delta angles to an equivalent angular rate before application of corrections float dt_inv = 1.e6f / gyro_report.integral_dt; - gyro_rate = matrix::Vector3f(gyro_report.x_integral * dt_inv, - gyro_report.y_integral * dt_inv, - gyro_report.z_integral * dt_inv); + gyro_rate = Vector3f(gyro_report.x_integral * dt_inv, + gyro_report.y_integral * dt_inv, + gyro_report.z_integral * dt_inv); _last_sensor_data[uorb_index].gyro_integral_dt = gyro_report.integral_dt; @@ -687,7 +687,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw) // Correct each sensor for temperature effects // Filtering and/or downsampling of temperature should be performed in the driver layer - gyro_rate = matrix::Vector3f(gyro_report.x, gyro_report.y, gyro_report.z); + gyro_rate = Vector3f(gyro_report.x, gyro_report.y, gyro_report.z); // handle the case where this is our first output if (_last_sensor_data[uorb_index].timestamp == 0) { @@ -770,7 +770,7 @@ void VotedSensorsUpdate::mag_poll(vehicle_magnetometer_s &magnetometer) parameters_update(); } - matrix::Vector3f vect(mag_report.x, mag_report.y, mag_report.z); + Vector3f vect(mag_report.x, mag_report.y, mag_report.z); vect = _mag_rotation[uorb_index] * vect; _last_magnetometer[uorb_index].timestamp = mag_report.timestamp; @@ -834,7 +834,7 @@ void VotedSensorsUpdate::baro_poll(vehicle_air_data_s &airdata) _baro_device_id[uorb_index] = baro_report.device_id; got_update = true; - matrix::Vector3f vect(baro_report.pressure, baro_report.temperature, 0.f); + Vector3f vect(baro_report.pressure, baro_report.temperature, 0.f); _last_airdata[uorb_index].timestamp = baro_report.timestamp; _last_airdata[uorb_index].baro_temp_celcius = baro_report.temperature;