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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-24 23:56:28 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-24 23:56:28 +0400 |
| commit | 9dfe366e908ce0100875996c3ea0d4cfdfcc24bf (patch) | |
| tree | 8d465ad2afbd51406284c7d5a43dbc9c8753c196 /src/modules/att_pos_estimator_ekf | |
| parent | a26e46bede186c36b475e0b5a9cf3ef758cc1c9b (diff) | |
| download | px4-firmware-9dfe366e908ce0100875996c3ea0d4cfdfcc24bf.tar.gz px4-firmware-9dfe366e908ce0100875996c3ea0d4cfdfcc24bf.tar.bz2 px4-firmware-9dfe366e908ce0100875996c3ea0d4cfdfcc24bf.zip | |
mathlib: Vector class major cleanup
Diffstat (limited to 'src/modules/att_pos_estimator_ekf')
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index 9d3ef07f2..aca3fe7b6 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -132,7 +132,7 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) : _sensors.magnetometer_ga[2]); // initialize dcm - C_nb.from_quaternion(q); + C_nb = q.to_dcm(); // HPos is constant HPos(0, 3) = 1.0f; @@ -409,7 +409,7 @@ int KalmanNav::predictState(float dt) } // C_nb update - C_nb.from_quaternion(q); + C_nb = q.to_dcm(); // euler update Vector<3> euler = C_nb.to_euler(); @@ -628,7 +628,7 @@ int KalmanNav::correctAtt() Vector<9> xCorrect = K * y; // check correciton is sane - for (size_t i = 0; i < xCorrect.getRows(); i++) { + for (size_t i = 0; i < xCorrect.get_size(); i++) { float val = xCorrect(i); if (isnan(val) || isinf(val)) { @@ -694,7 +694,7 @@ int KalmanNav::correctPos() Vector<9> xCorrect = K * y; // check correction is sane - for (size_t i = 0; i < xCorrect.getRows(); i++) { + for (size_t i = 0; i < xCorrect.get_size(); i++) { float val = xCorrect(i); if (!isfinite(val)) { |