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AP_Math: fix up rotation test suite

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This commit is contained in:
Jonathan Challinger 2014-10-19 11:52:14 -07:00 committed by Andrew Tridgell
parent 6076f3fa22
commit 70845882a7
1 changed files with 4 additions and 3 deletions
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7
libraries/AP_Math/examples/eulers/eulers.pde
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@ -33,6 +33,7 @@
#include <AP_Airspeed.h>
#include <AP_Vehicle.h>
#include <AP_ADC_AnalogSource.h>
#include <AP_Rally.h>
const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
@ -132,7 +133,7 @@ static void test_quaternion(float roll, float pitch, float yaw)
float roll2, pitch2, yaw2;
q.from_euler(roll, pitch, yaw);
q.to_euler(&roll2, &pitch2, &yaw2);
q.to_euler(roll2, pitch2, yaw2);
check_result("test_quaternion1", roll, pitch, yaw, roll2, pitch2, yaw2);
m.from_euler(roll, pitch, yaw);
@ -141,7 +142,7 @@ static void test_quaternion(float roll, float pitch, float yaw)
m.from_euler(roll, pitch, yaw);
q.from_rotation_matrix(m);
q.to_euler(&roll2, &pitch2, &yaw2);
q.to_euler(roll2, pitch2, yaw2);
check_result("test_quaternion3", roll, pitch, yaw, roll2, pitch2, yaw2);
q.rotation_matrix(m);
@ -192,7 +193,7 @@ static void test_conversion(float roll, float pitch, float yaw)
float roll3, pitch3, yaw3;
q.from_euler(roll, pitch, yaw);
q.to_euler(&roll2, &pitch2, &yaw2);
q.to_euler(roll2, pitch2, yaw2);
check_result("test_conversion1", roll, pitch, yaw, roll2, pitch2, yaw2);
q.rotation_matrix(m);