Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

fixed deltat in quaternion

This commit is contained in:
Andrew Tridgell 2012-03-03 16:00:57 +11:00
parent 353f9e613f
commit 4a277f9871
3 changed files with 6 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_Quaternion/AP_Quaternion.cpp
View File

@ -242,12 +242,15 @@ void AP_Quaternion::update_MARG(float deltat, Vector3f &gyro, Vector3f &accel, V
// Function to compute one quaternion iteration // Function to compute one quaternion iteration
void AP_Quaternion::update(float deltat) void AP_Quaternion::update(void)
{ {
Vector3f gyro, accel; Vector3f gyro, accel;
float deltat;
_imu->update(); _imu->update();
delta_t = _imu->get_delta_time();
// get current IMU state // get current IMU state
gyro = _imu->get_gyro(); gyro = _imu->get_gyro();
gyro.x = -gyro.x; gyro.x = -gyro.x;

2
libraries/AP_Quaternion/AP_Quaternion.h
View File

@ -43,7 +43,7 @@ public:
void set_compass(Compass *compass); void set_compass(Compass *compass);
// Methods // Methods
void update(float deltat); void update(void);
// Euler angles (radians) // Euler angles (radians)
float roll; float roll;

4
libraries/AP_Quaternion/examples/Quaternion/Quaternion.pde
View File

@ -111,7 +111,6 @@ void loop(void)
static uint16_t counter; static uint16_t counter;
static uint32_t last_t, last_print, last_compass; static uint32_t last_t, last_print, last_compass;
uint32_t now = micros(); uint32_t now = micros();
float deltat;
static uint32_t compass_reads; static uint32_t compass_reads;
static uint32_t compass_time; static uint32_t compass_time;
@ -119,7 +118,6 @@ void loop(void)
last_t = now; last_t = now;
return; return;
} }
deltat = (now - last_t) * 1.0e-6;
last_t = now; last_t = now;
if (now - last_compass > 100*1000UL) { if (now - last_compass > 100*1000UL) {
@ -128,7 +126,7 @@ void loop(void)
last_compass = now; last_compass = now;
} }
quaternion.update(deltat); quaternion.update();
counter++; counter++;
if (now - last_print >= 0.5e6) { if (now - last_print >= 0.5e6) {