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APM: removed quaternion special cases

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This commit is contained in:
Andrew Tridgell 2012-03-07 15:13:29 +11:00
parent 371677610d
commit 13d5839778
2 changed files with 3 additions and 12 deletions
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2
ArduPlane/GCS_Mavlink.pde
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@ -306,7 +306,6 @@ static void NOINLINE send_meminfo(mavlink_channel_t chan)
static void NOINLINE send_location(mavlink_channel_t chan) static void NOINLINE send_location(mavlink_channel_t chan)
{ {
#if QUATERNION_ENABLE == DISABLED
Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now
mavlink_msg_global_position_int_send( mavlink_msg_global_position_int_send(
chan, chan,
@ -319,7 +318,6 @@ static void NOINLINE send_location(mavlink_channel_t chan)
g_gps->ground_speed * rot.b.x, // Y speed cm/s g_gps->ground_speed * rot.b.x, // Y speed cm/s
g_gps->ground_speed * rot.c.x, g_gps->ground_speed * rot.c.x,
g_gps->ground_course); // course in 1/100 degree g_gps->ground_course); // course in 1/100 degree
#endif
} }
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan) static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)

13
ArduPlane/test.pde
View File

@ -535,11 +535,7 @@ test_imu(uint8_t argc, const Menu::arg *argv)
if(medium_loopCounter == 5){ if(medium_loopCounter == 5){
if (compass.read()) { if (compass.read()) {
// Calculate heading // Calculate heading
#if QUATERNION_ENABLE == ENABLED
compass.calculate(dcm.roll, dcm.pitch);
#else
compass.calculate(dcm.get_dcm_matrix()); compass.calculate(dcm.get_dcm_matrix());
#endif
} }
medium_loopCounter = 0; medium_loopCounter = 0;
} }
@ -605,12 +601,9 @@ test_mag(uint8_t argc, const Menu::arg *argv)
if(medium_loopCounter == 5){ if(medium_loopCounter == 5){
if (compass.read()) { if (compass.read()) {
// Calculate heading // Calculate heading
#if QUATERNION_ENABLE == ENABLED Matrix3f m = dcm.get_dcm_matrix();
compass.calculate(dcm.roll, dcm.pitch); compass.calculate(m);
#else compass.null_offsets(m);
compass.calculate(dcm.get_dcm_matrix());
compass.null_offsets(dcm.get_dcm_matrix());
#endif
} }
medium_loopCounter = 0; medium_loopCounter = 0;
} }