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author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-19 14:10:25 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-19 14:10:25 +0400 |
commit | ba612c3ee8b88b9352e7cfa723997887dd736b76 (patch) | |
tree | 8b101b50259ffebd4de12891f4f684d6d84c3f53 /src/lib/external_lgpl/tecs/tecs.h | |
parent | e3a5a384d7b3678d1cbef63dc28fbe9a8f1de940 (diff) | |
download | px4-firmware-ba612c3ee8b88b9352e7cfa723997887dd736b76.tar.gz px4-firmware-ba612c3ee8b88b9352e7cfa723997887dd736b76.tar.bz2 px4-firmware-ba612c3ee8b88b9352e7cfa723997887dd736b76.zip |
mathlib fixes
Diffstat (limited to 'src/lib/external_lgpl/tecs/tecs.h')
-rw-r--r-- | src/lib/external_lgpl/tecs/tecs.h | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h index f8f832ed7..68832a039 100644 --- a/src/lib/external_lgpl/tecs/tecs.h +++ b/src/lib/external_lgpl/tecs/tecs.h @@ -71,10 +71,10 @@ public: // Update of the estimated height and height rate internal state // Update of the inertial speed rate internal state // Should be called at 50Hz or greater - void update_50hz(float baro_altitude, float airspeed, const math::Dcm &rotMat, const math::Vector3 &accel_body, const math::Vector3 &accel_earth); + void update_50hz(float baro_altitude, float airspeed, const math::Matrix<3,3> &rotMat, const math::Vector<3> &accel_body, const math::Vector<3> &accel_earth); // Update the control loop calculations - void update_pitch_throttle(const math::Dcm &rotMat, float pitch, float baro_altitude, float hgt_dem, float EAS_dem, float indicated_airspeed, float EAS2TAS, bool climbOutDem, float ptchMinCO, + void update_pitch_throttle(const math::Matrix<3,3> &rotMat, float pitch, float baro_altitude, float hgt_dem, float EAS_dem, float indicated_airspeed, float EAS2TAS, bool climbOutDem, float ptchMinCO, float throttle_min, float throttle_max, float throttle_cruise, float pitch_limit_min, float pitch_limit_max); // demanded throttle in percentage @@ -338,7 +338,7 @@ private: void _update_energies(void); // Update Demanded Throttle - void _update_throttle(float throttle_cruise, const math::Dcm &rotMat); + void _update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotMat); // Detect Bad Descent void _detect_bad_descent(void); |