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APM: avoid fetching the DCM matrix twice 

also no special case for quaternions
This commit is contained in:
Andrew Tridgell 2012-03-07 15:13:13 +11:00
parent 1016d3c95d
commit 371677610d
1 changed files with 3 additions and 6 deletions
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9
ArduPlane/ArduPlane.pde
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@ -781,12 +781,9 @@ static void medium_loop()
if (g.compass_enabled && compass.read()) { if (g.compass_enabled && compass.read()) {
dcm.set_compass(&compass); dcm.set_compass(&compass);
// 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
} else { } else {
dcm.set_compass(NULL); dcm.set_compass(NULL);
} }