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DCM: use rotation_matrix_from_euler() in matrix reset 

this makes the code a bit easier to read
This commit is contained in:
Andrew Tridgell 2012-02-24 11:23:49 +11:00
parent 5009679617
commit 48cad8bc25
1 changed files with 2 additions and 26 deletions
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28
libraries/AP_DCM/AP_DCM.cpp
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@ -215,34 +215,10 @@ AP_DCM::matrix_reset(bool recover_eulers)
// attitude then calculate the dcm matrix from the current // attitude then calculate the dcm matrix from the current
// roll/pitch/yaw values // roll/pitch/yaw values
if (recover_eulers && !isnan(roll) && !isnan(pitch) && !isnan(yaw)) { if (recover_eulers && !isnan(roll) && !isnan(pitch) && !isnan(yaw)) {
float cp = cos(pitch); rotation_matrix_from_euler(_dcm_matrix, roll, pitch, yaw);
float sp = sin(pitch);
float sr = sin(roll);
float cr = cos(roll);
float sy = sin(yaw);
float cy = cos(yaw);
//Serial.printf("setting DCM matrix to %f %f %f\n", ToDeg(roll), ToDeg(pitch), ToDeg(yaw));
_dcm_matrix.a.x = cp * cy;
_dcm_matrix.a.y = (sr * sp * cy) - (cr * sy);
_dcm_matrix.a.z = (cr * sp * cy) + (sr * sy);
_dcm_matrix.b.x = cp * sy;
_dcm_matrix.b.y = (sr * sp * sy) + (cr * cy);
_dcm_matrix.b.z = (cr * sp * sy) - (sr * cy);
_dcm_matrix.c.x = -sp;
_dcm_matrix.c.y = sr * cp;
_dcm_matrix.c.z = cr * cp;
} else { } else {
// otherwise make it flat // otherwise make it flat
//Serial.printf("zeroing DCM matrix\n"); rotation_matrix_from_euler(_dcm_matrix, 0, 0, 0);
_dcm_matrix.a.x = 1.0f;
_dcm_matrix.a.y = 0.0f;
_dcm_matrix.a.z = 0.0f;
_dcm_matrix.b.x = 0.0f;
_dcm_matrix.b.y = 1.0f;
_dcm_matrix.b.z = 0.0f;
_dcm_matrix.c.x = 0.0f;
_dcm_matrix.c.y = 0.0f;
_dcm_matrix.c.z = 1.0f;
} }
if (_compass != NULL) { if (_compass != NULL) {