Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 02:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

uncrustify libraries/AP_AHRS/AP_AHRS_DCM.cpp

Browse Source
This commit is contained in:
uncrustify 2012-08-21 19:19:51 -07:00 committed by Pat Hickey
parent 56b7f1b031
commit 7dc3f26ce0
1 changed files with 386 additions and 386 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

52
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -1,16 +1,16 @@
/*
APM_AHRS_DCM.cpp
AHRS system using DCM matrices
Based on DCM code by Doug Weibel, Jordi Muñoz and Jose Julio. DIYDrones.com
Adapted for the general ArduPilot AHRS interface by Andrew Tridgell
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public License
as published by the Free Software Foundation; either version 2.1
of the License, or (at your option) any later version.
* APM_AHRS_DCM.cpp
*
* AHRS system using DCM matrices
*
* Based on DCM code by Doug Weibel, Jordi Muñoz and Jose Julio. DIYDrones.com
*
* Adapted for the general ArduPilot AHRS interface by Andrew Tridgell
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation; either version 2.1
* of the License, or (at your option) any later version.
*/
#include <FastSerial.h>
#include <AP_AHRS.h>
@ -78,8 +78,8 @@ AP_AHRS_DCM::matrix_update(float _G_Dt)
/*
reset the DCM matrix and omega. Used on ground start, and on
extreme errors in the matrix
* reset the DCM matrix and omega. Used on ground start, and on
* extreme errors in the matrix
*/
void
AP_AHRS_DCM::reset(bool recover_eulers)
@ -102,7 +102,7 @@ AP_AHRS_DCM::reset(bool recover_eulers)
}
/*
check the DCM matrix for pathological values
* check the DCM matrix for pathological values
*/
void
AP_AHRS_DCM::check_matrix(void)
@ -191,14 +191,14 @@ AP_AHRS_DCM::renorm(Vector3f const &a, Vector3f &result)
}
/*************************************************
Direction Cosine Matrix IMU: Theory
William Premerlani and Paul Bizard
Numerical errors will gradually reduce the orthogonality conditions expressed by equation 5
to approximations rather than identities. In effect, the axes in the two frames of reference no
longer describe a rigid body. Fortunately, numerical error accumulates very slowly, so it is a
simple matter to stay ahead of it.
We call the process of enforcing the orthogonality conditions ÒrenormalizationÓ.
* Direction Cosine Matrix IMU: Theory
* William Premerlani and Paul Bizard
*
* Numerical errors will gradually reduce the orthogonality conditions expressed by equation 5
* to approximations rather than identities. In effect, the axes in the two frames of reference no
* longer describe a rigid body. Fortunately, numerical error accumulates very slowly, so it is a
* simple matter to stay ahead of it.
* We call the process of enforcing the orthogonality conditions ÒrenormalizationÓ.
*/
void
AP_AHRS_DCM::normalize(void)
@ -449,9 +449,9 @@ AP_AHRS_DCM::drift_correction(float deltat)
#define USE_BAROMETER_FOR_VERTICAL_VELOCITY 1
#if USE_BAROMETER_FOR_VERTICAL_VELOCITY
/*
The barometer for vertical velocity is only enabled if we got
at least 5 pressure samples for the reading. This ensures we
don't use very noisy climb rate data
* The barometer for vertical velocity is only enabled if we got
* at least 5 pressure samples for the reading. This ensures we
* don't use very noisy climb rate data
*/
if (_barometer != NULL && _barometer->get_pressure_samples() >= 5) {
// Z velocity is down