diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_22states.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_22states.cpp | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp index adf6961ef..4e4ef3b92 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp @@ -6,10 +6,10 @@ #include <algorithm> #ifndef M_PI_F -#define M_PI_F ((float)M_PI) +#define M_PI_F static_cast<float>(M_PI) #endif -#define EKF_COVARIANCE_DIVERGED 1.0e8f +constexpr float EKF_COVARIANCE_DIVERGED = 1.0e8f; AttPosEKF::AttPosEKF() : covTimeStepMax(0.0f), @@ -2401,6 +2401,7 @@ void AttPosEKF::RecallOmega(float* omegaForFusion, uint64_t msec) } } +#if 0 void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4]) { // Calculate the nav to body cosine matrix @@ -2425,6 +2426,7 @@ void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4]) Tnb.x.z = 2*(q13 - q02); Tnb.y.z = 2*(q23 + q01); } +#endif void AttPosEKF::quat2Tbn(Mat3f &Tbn_ret, const float (&quat)[4]) { |