diff options
| -rw-r--r-- | src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp | 18 |
1 files changed, 8 insertions, 10 deletions
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp index 18e598636..5db8f77ac 100644 --- a/src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp +++ b/src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp @@ -96,11 +96,11 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) /* all input data is ready, run controller itself */ /* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */ - math::Vector < 3 > R_z(R(0, 2), R(1, 2), R(2, 2)); - math::Vector < 3 > R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2)); + math::Vector <3> R_z(R(0, 2), R(1, 2), R(2, 2)); + math::Vector <3> R_sp_z(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2)); /* axis and sin(angle) of desired rotation */ - math::Vector < 3 > e_R = R.transposed() * (R_z % R_sp_z); + math::Vector <3> e_R = R.transposed() * (R_z % R_sp_z); /* calculate angle error */ float e_R_z_sin = e_R.length(); @@ -115,7 +115,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) if (e_R_z_sin > 0.0f) { /* get axis-angle representation */ float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos); - math::Vector < 3 > e_R_z_axis = e_R / e_R_z_sin; + math::Vector <3> e_R_z_axis = e_R / e_R_z_sin; e_R = e_R_z_axis * e_R_z_angle; @@ -130,9 +130,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) e_R_cp(2, 1) = e_R_z_axis(0); /* rotation matrix for roll/pitch only rotation */ - R_rp = R - * (_I + e_R_cp * e_R_z_sin - + e_R_cp * e_R_cp * (1.0f - e_R_z_cos)); + R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos)); } else { /* zero roll/pitch rotation */ @@ -140,8 +138,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) } /* R_rp and R_sp has the same Z axis, calculate yaw error */ - math::Vector < 3 > R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0)); - math::Vector < 3 > R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0)); + math::Vector <3> R_sp_x(R_sp(0, 0), R_sp(1, 0), R_sp(2, 0)); + math::Vector <3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0)); e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w; if (e_R_z_cos < 0.0f) { @@ -149,7 +147,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) * calculate angle and axis for R -> R_sp rotation directly */ math::Quaternion q; q.from_dcm(R.transposed() * R_sp); - math::Vector < 3 > e_R_d = q.imag(); + math::Vector <3> e_R_d = q.imag(); e_R_d.normalize(); e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0)); |