Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 15:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_PrecLand: remove zero terms from math

Browse Source
This commit is contained in:
Jonathan Challinger 2016-06-22 17:26:02 -07:00 committed by Randy Mackay
parent b5e80148c6
commit 0eac5a5c8f
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AC_PrecLand/AC_PrecLand.cpp
View File

@ -155,9 +155,9 @@ void AC_PrecLand::calc_angles_and_pos(float alt_above_terrain_cm)
float sin_theta = sinf(theta);
float cos_theta = cosf(theta);
target_vec_ned.x = axis.x*axis.z*(1.0f - cos_theta) + axis.y*sin_theta;
target_vec_ned.y = axis.y*axis.z*(1.0f - cos_theta) - axis.x*sin_theta;
target_vec_ned.z = cos_theta + sq(axis.z)*(1.0f-cos_theta);
target_vec_ned.x = axis.y*sin_theta;
target_vec_ned.y = -axis.x*sin_theta;
target_vec_ned.z = cos_theta;
}
// rotate into NED frame