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Quaternion: use the new quaternion API

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This commit is contained in:
Andrew Tridgell 2012-03-10 16:44:37 +11:00
parent a9b8c4dd82
commit 18fcb14335
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_Quaternion/AP_Quaternion.cpp
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@ -119,7 +119,7 @@ void AP_Quaternion::update_IMU(float deltat, Vector3f &gyro, Vector3f &accel)
if (_compass) { if (_compass) {
_compass->null_offsets_disable(); _compass->null_offsets_disable();
} }
quaternion_from_euler(q, roll, pitch, yaw); q.from_euler(roll, pitch, yaw);
if (_compass) { if (_compass) {
_compass->null_offsets_enable(); _compass->null_offsets_enable();
} }
@ -280,7 +280,7 @@ void AP_Quaternion::update_MARG(float deltat, Vector3f &gyro, Vector3f &accel, V
// and hope for the best ... // and hope for the best ...
renorm_blowup_count++; renorm_blowup_count++;
_compass->null_offsets_disable(); _compass->null_offsets_disable();
quaternion_from_euler(q, roll, pitch, yaw); q.from_euler(roll, pitch, yaw);
_compass->null_offsets_disable(); _compass->null_offsets_disable();
return; return;
} }
@ -432,7 +432,7 @@ void AP_Quaternion::update_drift(float deltat, Vector3f &mag)
// and hope for the best ... // and hope for the best ...
renorm_blowup_count++; renorm_blowup_count++;
_compass->null_offsets_disable(); _compass->null_offsets_disable();
quaternion_from_euler(q, roll, pitch, yaw); q.from_euler(roll, pitch, yaw);
_compass->null_offsets_disable(); _compass->null_offsets_disable();
return; return;
} }
@ -481,7 +481,7 @@ void AP_Quaternion::update(void)
_compass->use_for_yaw()) { _compass->use_for_yaw()) {
// setup the quaternion with initial compass yaw // setup the quaternion with initial compass yaw
_compass->null_offsets_disable(); _compass->null_offsets_disable();
quaternion_from_euler(q, 0, 0, _compass->heading); q.from_euler(0, 0, _compass->heading);
_have_initial_yaw = true; _have_initial_yaw = true;
_compass_last_update = _compass->last_update; _compass_last_update = _compass->last_update;
gyro_bias.zero(); gyro_bias.zero();
@ -567,7 +567,7 @@ void AP_Quaternion::update(void)
_gyro_corrected = gyro; _gyro_corrected = gyro;
// calculate our euler angles for high level control and navigation // calculate our euler angles for high level control and navigation
euler_from_quaternion(q, &roll, &pitch, &yaw); q.to_euler(&roll, &pitch, &yaw);
// the code above assumes zero magnetic declination, so offset // the code above assumes zero magnetic declination, so offset
// the yaw here // the yaw here