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AP_AHRS: rename get_dcm_matrix to get_rotation_body_to_ned

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This commit is contained in:
Jonathan Challinger 2015-12-10 14:05:13 -08:00 committed by Andrew Tridgell
parent 2a953c4e35
commit 6682b27456
6 changed files with 8 additions and 8 deletions
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2
libraries/AP_AHRS/AP_AHRS.cpp
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@ -231,7 +231,7 @@ Vector2f AP_AHRS::groundspeed_vector(void)
void AP_AHRS::update_trig(void)
{
Vector2f yaw_vector;
const Matrix3f &temp = get_dcm_matrix();
const Matrix3f &temp = get_rotation_body_to_ned();
// sin_yaw, cos_yaw
yaw_vector.x = temp.a.x;

4
libraries/AP_AHRS/AP_AHRS.h
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@ -178,7 +178,7 @@ public:
// get yaw rate in earth frame in radians/sec
float get_yaw_rate_earth(void) const {
return get_gyro() * get_dcm_matrix().c;
return get_gyro() * get_rotation_body_to_ned().c;
}
// Methods
@ -225,7 +225,7 @@ public:
// return a DCM rotation matrix representing our current
// attitude
virtual const Matrix3f &get_dcm_matrix(void) const = 0;
virtual const Matrix3f &get_rotation_body_to_ned(void) const = 0;
// get our current position estimate. Return true if a position is available,
// otherwise false. This call fills in lat, lng and alt

2
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -65,7 +65,7 @@ public:
}
// return rotation matrix representing rotaton from body to earth axes
const Matrix3f &get_dcm_matrix(void) const {
const Matrix3f &get_rotation_body_to_ned(void) const {
return _body_dcm_matrix;
}

4
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -48,10 +48,10 @@ const Vector3f &AP_AHRS_NavEKF::get_gyro(void) const
return _gyro_estimate;
}
const Matrix3f &AP_AHRS_NavEKF::get_dcm_matrix(void) const
const Matrix3f &AP_AHRS_NavEKF::get_rotation_body_to_ned(void) const
{
if (!active_EKF_type()) {
return AP_AHRS_DCM::get_dcm_matrix();
return AP_AHRS_DCM::get_rotation_body_to_ned();
}
return _dcm_matrix;
}

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -51,7 +51,7 @@ public:
// return the smoothed gyro vector corrected for drift
const Vector3f &get_gyro(void) const;
const Matrix3f &get_dcm_matrix(void) const;
const Matrix3f &get_rotation_body_to_ned(void) const;
// return the current drift correction integrator value
const Vector3f &get_gyro_drift(void) const;

2
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
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@ -57,7 +57,7 @@ void loop(void)
if (now - last_compass > 100*1000UL &&
compass.read()) {
heading = compass.calculate_heading(ahrs.get_dcm_matrix());
heading = compass.calculate_heading(ahrs.get_rotation_body_to_ned());
// read compass at 10Hz
last_compass = now;
#if WITH_GPS