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SITL: remove use of Vector3 as function

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This commit is contained in:
Peter Barker 2020-06-04 15:54:29 +10:00 committed by Andrew Tridgell
parent 2f8c0dd65b
commit 30c65e57be
4 changed files with 9 additions and 7 deletions
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4
libraries/SITL/SIM_Calibration.cpp
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@ -45,7 +45,7 @@ void SITL::Calibration::update(const struct sitl_input &input)
_angular_velocity_control(input, rot_accel); _angular_velocity_control(input, rot_accel);
} }
accel_body(0, 0, 0); accel_body.zero();
update_dynamics(rot_accel); update_dynamics(rot_accel);
update_position(); update_position();
time_advance(); time_advance();
@ -172,6 +172,6 @@ void SITL::Calibration::_calibration_poses(Vector3f& rot_accel)
r2.from_axis_angle(axis, rot_angle); r2.from_axis_angle(axis, rot_angle);
dcm = r2 * dcm; dcm = r2 * dcm;
accel_body(0, 0, -GRAVITY_MSS); accel_body = {0, 0, -GRAVITY_MSS};
accel_body = dcm.transposed() * accel_body; accel_body = dcm.transposed() * accel_body;
} }

8
libraries/SITL/SIM_FlightAxis.cpp
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@ -428,9 +428,11 @@ void FlightAxis::update(const struct sitl_input &input)
state.m_aircraftPositionX_MTR, state.m_aircraftPositionX_MTR,
-state.m_altitudeASL_MTR - home.alt*0.01); -state.m_altitudeASL_MTR - home.alt*0.01);
accel_body(state.m_accelerationBodyAX_MPS2, accel_body = {
state.m_accelerationBodyAY_MPS2, float(state.m_accelerationBodyAX_MPS2),
state.m_accelerationBodyAZ_MPS2); float(state.m_accelerationBodyAY_MPS2),
float(state.m_accelerationBodyAZ_MPS2)
};
// accel on the ground is nasty in realflight, and prevents helicopter disarm // accel on the ground is nasty in realflight, and prevents helicopter disarm
if (!is_zero(state.m_isTouchingGround)) { if (!is_zero(state.m_isTouchingGround)) {

2
libraries/SITL/SIM_Motor.cpp
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@ -39,7 +39,7 @@ void Motor::calculate_forces(const struct sitl_input &input,
Vector3f rotor_torque(0, 0, yaw_factor * motor_speed * yaw_scale); Vector3f rotor_torque(0, 0, yaw_factor * motor_speed * yaw_scale);
// get thrust for untilted motor // get thrust for untilted motor
thrust(0, 0, -motor_speed); thrust = {0, 0, -motor_speed};
// define the arm position relative to center of mass // define the arm position relative to center of mass
Vector3f arm(arm_scale * cosf(radians(angle)), arm_scale * sinf(radians(angle)), 0); Vector3f arm(arm_scale * cosf(radians(angle)), arm_scale * sinf(radians(angle)), 0);

2
libraries/SITL/SIM_XPlane.cpp
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@ -311,7 +311,7 @@ bool XPlane::receive_data(void)
printf("X-Plane home reset dist=%f alt=%.1f/%.1f\n", printf("X-Plane home reset dist=%f alt=%.1f/%.1f\n",
loc.get_distance(location), loc.alt*0.01f, location.alt*0.01f); loc.get_distance(location), loc.alt*0.01f, location.alt*0.01f);
// reset home location // reset home location
position_zero(-pos.x, -pos.y, -pos.z); position_zero = {-pos.x, -pos.y, -pos.z};
home.lat = loc.lat; home.lat = loc.lat;
home.lng = loc.lng; home.lng = loc.lng;
home.alt = loc.alt; home.alt = loc.alt;