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Fix bug in transposed DCM matrix accessor 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1134 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
deweibel 2010-12-14 18:39:02 +00:00
parent e194e2fa75
commit 1da23bc3c0
3 changed files with 5 additions and 31 deletions
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27
libraries/AP_DCM/AP_DCM.cpp
View File

@ -52,33 +52,6 @@ AP_DCM::update_DCM(float _G_Dt)
} }
/**************************************************/ /**************************************************/
Vector3f
AP_DCM::get_gyro(void)
{
return _omega_integ_corr;
} // We return the raw gyro vector corrected for bias
/**************************************************/
Vector3f
AP_DCM::get_accel(void)
{
return _accel_vector;
}
/**************************************************/
Matrix3f
AP_DCM::get_dcm_matrix(void)
{
return _dcm_matrix;
}
/**************************************************/
Matrix3f
AP_DCM::get_dcm_transposed(void)
{
return _dcm_matrix.transpose();
}
//For Debugging //For Debugging
/* /*

8
libraries/AP_DCM/AP_DCM.h
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@ -44,10 +44,10 @@ public:
{} {}
// Accessors // Accessors
Vector3f get_gyro(void); Vector3f get_gyro(void) {return _omega_integ_corr; } // We return the raw gyro vector corrected for bias
Vector3f get_accel(void); Vector3f get_accel(void) { return _accel_vector; }
Matrix3f get_dcm_matrix(void); Matrix3f get_dcm_matrix(void) {return _dcm_matrix; }
Matrix3f get_dcm_transposed(void); Matrix3f get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix; return temp.transpose();}
void set_centripetal(bool b); void set_centripetal(bool b);
void set_compass(Compass *compass); void set_compass(Compass *compass);

1
libraries/AP_DCM/AP_DCM_HIL.h
View File

@ -25,6 +25,7 @@ public:
Vector3f get_gyro(void) {return _omega_integ_corr; } Vector3f get_gyro(void) {return _omega_integ_corr; }
Vector3f get_accel(void) { return _accel_vector; } Vector3f get_accel(void) { return _accel_vector; }
Matrix3f get_dcm_matrix(void) {return _dcm_matrix; } Matrix3f get_dcm_matrix(void) {return _dcm_matrix; }
Matrix3f get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix; return temp.transpose();}
void set_centripetal(bool b) {} void set_centripetal(bool b) {}
void set_compass(Compass *compass) {} void set_compass(Compass *compass) {}