From 56e15ab1f42ce29ff0da429d85af4e07dabbb2ed Mon Sep 17 00:00:00 2001 From: James Goppert Date: Sun, 13 Jan 2013 18:38:09 -0500 Subject: Working on comments. --- apps/mathlib/math/Dcm.cpp | 30 +++++++++++++++--------------- apps/mathlib/math/EulerAngles.cpp | 26 +++++++++++++------------- apps/mathlib/math/Quaternion.cpp | 34 +++++++++++++++++----------------- apps/mavlink/mavlink_receiver.c | 5 ----- apps/uORB/topics/sensor_combined.h | 1 - 5 files changed, 45 insertions(+), 51 deletions(-) diff --git a/apps/mathlib/math/Dcm.cpp b/apps/mathlib/math/Dcm.cpp index 467c6f34e..25f4913a6 100644 --- a/apps/mathlib/math/Dcm.cpp +++ b/apps/mathlib/math/Dcm.cpp @@ -138,25 +138,25 @@ int __EXPORT dcmTest() Matrix::identity(3))); // quaternion ctor ASSERT(matrixEqual( - Dcm(Quaternion(0.983347, 0.034271, 0.106021, 0.143572)), - Dcm( 0.9362934, -0.2750958, 0.2183507, - 0.2896295, 0.9564251, -0.0369570, - -0.1986693, 0.0978434, 0.9751703))); + Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)), + Dcm( 0.9362934f, -0.2750958f, 0.2183507f, + 0.2896295f, 0.9564251f, -0.0369570f, + -0.1986693f, 0.0978434f, 0.9751703f))); // euler angle ctor ASSERT(matrixEqual( - Dcm(EulerAngles(0.1, 0.2, 0.3)), - Dcm( 0.9362934, -0.2750958, 0.2183507, - 0.2896295, 0.9564251, -0.0369570, - -0.1986693, 0.0978434, 0.9751703))); + Dcm(EulerAngles(0.1f, 0.2f, 0.3f)), + Dcm( 0.9362934f, -0.2750958f, 0.2183507f, + 0.2896295f, 0.9564251f, -0.0369570f, + -0.1986693f, 0.0978434f, 0.9751703f))); // rotations Vector3 vB(1, 2, 3); - ASSERT(vectorEqual(Vector3(-2, 1, 3), - Dcm(EulerAngles(0, 0, M_PI_2_F))*vB)); - ASSERT(vectorEqual(Vector3(3, 2, -1), - Dcm(EulerAngles(0, M_PI_2_F, 0))*vB)); - ASSERT(vectorEqual(Vector3(1, -3, 2), - Dcm(EulerAngles(M_PI_2_F, 0, 0))*vB)); - ASSERT(vectorEqual(Vector3(3, 2, -1), + ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f), + Dcm(EulerAngles(0.0f, 0.0f, M_PI_2_F))*vB)); + ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f), + Dcm(EulerAngles(0.0f, M_PI_2_F, 0.0f))*vB)); + ASSERT(vectorEqual(Vector3(1.0f, -3.0f, 2.0f), + Dcm(EulerAngles(M_PI_2_F, 0.0f, 0.0f))*vB)); + ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f), Dcm(EulerAngles( M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB)); printf("PASS\n"); diff --git a/apps/mathlib/math/EulerAngles.cpp b/apps/mathlib/math/EulerAngles.cpp index 27ebbf8b3..16864aec2 100644 --- a/apps/mathlib/math/EulerAngles.cpp +++ b/apps/mathlib/math/EulerAngles.cpp @@ -97,27 +97,27 @@ EulerAngles::~EulerAngles() int __EXPORT eulerAnglesTest() { printf("Test EulerAngles\t: "); - EulerAngles euler(0.1, 0.2, 0.3); + EulerAngles euler(0.1f, 0.2f, 0.3f); // test ctor - ASSERT(vectorEqual(Vector3(0.1, 0.2, 0.3), euler)); - ASSERT(equal(euler.getPhi(), 0.1)); - ASSERT(equal(euler.getTheta(), 0.2)); - ASSERT(equal(euler.getPsi(), 0.3)); + ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler)); + ASSERT(equal(euler.getPhi(), 0.1f)); + ASSERT(equal(euler.getTheta(), 0.2f)); + ASSERT(equal(euler.getPsi(), 0.3f)); // test dcm ctor - euler = Dcm(EulerAngles(0.1,0.2,0.3)); - ASSERT(vectorEqual(Vector3(0.1,0.2,0.3),euler)); + euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f)); + ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f),euler)); // test quat ctor - euler = Quaternion(EulerAngles(0.1,0.2,0.3)); - ASSERT(vectorEqual(Vector3(0.1,0.2,0.3),euler)); + euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f)); + ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f),euler)); // test assignment - euler.setPhi(0.4); - euler.setTheta(0.5); - euler.setPsi(0.6); - ASSERT(vectorEqual(Vector3(0.4,0.5,0.6),euler)); + euler.setPhi(0.4f); + euler.setTheta(0.5f); + euler.setPsi(0.6f); + ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f),euler)); printf("PASS\n"); return 0; diff --git a/apps/mathlib/math/Quaternion.cpp b/apps/mathlib/math/Quaternion.cpp index 4f07840c3..161b9d039 100644 --- a/apps/mathlib/math/Quaternion.cpp +++ b/apps/mathlib/math/Quaternion.cpp @@ -144,29 +144,29 @@ int __EXPORT quaternionTest() printf("Test Quaternion\t\t: "); // test default ctor Quaternion q; - ASSERT(equal(q.getA(), 1)); - ASSERT(equal(q.getB(), 0)); - ASSERT(equal(q.getC(), 0)); - ASSERT(equal(q.getD(), 0)); + ASSERT(equal(q.getA(), 1.0f)); + ASSERT(equal(q.getB(), 0.0f)); + ASSERT(equal(q.getC(), 0.0f)); + ASSERT(equal(q.getD(), 0.0f)); // test float ctor - q = Quaternion(0.1825742, 0.3651484, 0.5477226, 0.7302967); - ASSERT(equal(q.getA(), 0.1825742)); - ASSERT(equal(q.getB(), 0.3651484)); - ASSERT(equal(q.getC(), 0.5477226)); - ASSERT(equal(q.getD(), 0.7302967)); + q = Quaternion(0.1825742f, 0.3651484f, 0.5477226f, 0.7302967f); + ASSERT(equal(q.getA(), 0.1825742f)); + ASSERT(equal(q.getB(), 0.3651484f)); + ASSERT(equal(q.getC(), 0.5477226f)); + ASSERT(equal(q.getD(), 0.7302967f)); // test euler ctor - q = Quaternion(EulerAngles(0.1, 0.2, 0.3)); - ASSERT(vectorEqual(q, Quaternion(0.983347, 0.034271, 0.106021, 0.143572))); + q = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f)); + ASSERT(vectorEqual(q, Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f))); // test dcm ctor q = Quaternion(Dcm()); - ASSERT(vectorEqual(q, Quaternion(1, 0, 0, 0))); + ASSERT(vectorEqual(q, Quaternion(1.0f, 0.0f, 0.0f, 0.0f))); // TODO test derivative // test accessors - q.setA(0.1); - q.setB(0.2); - q.setC(0.3); - q.setD(0.4); - ASSERT(vectorEqual(q, Quaternion(0.1, 0.2, 0.3, 0.4))); + q.setA(0.1f); + q.setB(0.2f); + q.setC(0.3f); + q.setD(0.4f); + ASSERT(vectorEqual(q, Quaternion(0.1f, 0.2f, 0.3f, 0.4f))); printf("PASS\n"); return 0; } diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index 0eb0b39d1..850b366a3 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -346,11 +346,6 @@ handle_message(mavlink_message_t *msg) hil_sensors.adc_voltage_v[1] = 0; hil_sensors.adc_voltage_v[2] = 0; - /* battery */ - hil_sensors.battery_voltage_counter = hil_counter; - hil_sensors.battery_voltage_v = 11.1f; - hil_sensors.battery_voltage_valid = true; - /* magnetometer */ float mga2ga = 1.0e-3f; hil_sensors.magnetometer_counter = hil_counter; diff --git a/apps/uORB/topics/sensor_combined.h b/apps/uORB/topics/sensor_combined.h index fe84aab63..1d25af35a 100644 --- a/apps/uORB/topics/sensor_combined.h +++ b/apps/uORB/topics/sensor_combined.h @@ -99,7 +99,6 @@ struct sensor_combined_s { float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */ float baro_alt_meter; /**< Altitude, already temp. comp. */ float baro_temp_celcius; /**< Temperature in degrees celsius */ - float battery_voltage_v; /**< Battery voltage in volts, filtered */ float adc_voltage_v[4]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */ float mcu_temp_celcius; /**< Internal temperature measurement of MCU */ uint32_t baro_counter; /**< Number of raw baro measurements taken */ -- cgit v1.2.3