diff options
Diffstat (limited to 'src/modules/commander/accelerometer_calibration.cpp')
| -rw-r--r-- | src/modules/commander/accelerometer_calibration.cpp | 14 |
1 files changed, 6 insertions, 8 deletions
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 5eeca5a1a..36b75dd58 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -194,15 +194,13 @@ int do_accel_calibration(int mavlink_fd) int32_t board_rotation_int; param_get(board_rotation_h, &(board_rotation_int)); enum Rotation board_rotation_id = (enum Rotation)board_rotation_int; - math::Matrix board_rotation(3, 3); + math::Matrix<3,3> board_rotation; get_rot_matrix(board_rotation_id, &board_rotation); - math::Matrix board_rotation_t = board_rotation.transpose(); - math::Vector3 accel_offs_vec; - accel_offs_vec.set(&accel_offs[0]); - math::Vector3 accel_offs_rotated = board_rotation_t * accel_offs_vec; - math::Matrix accel_T_mat(3, 3); - accel_T_mat.set(&accel_T[0][0]); - math::Matrix accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation; + math::Matrix<3,3> board_rotation_t = board_rotation.transposed(); + math::Vector<3> accel_offs_vec(&accel_offs[0]); + math::Vector<3> accel_offs_rotated = board_rotation_t * accel_offs_vec; + math::Matrix<3,3> accel_T_mat(&accel_T[0][0]); + math::Matrix<3,3> accel_T_rotated = board_rotation_t * accel_T_mat * board_rotation; accel_scale.x_offset = accel_offs_rotated(0); accel_scale.x_scale = accel_T_rotated(0, 0); |