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Update for changes to AP_IMU 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1343 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2010-12-28 23:41:26 +00:00
parent 94fd2431e4
commit bf59d7abc7
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_DCM/AP_DCM.h
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@ -21,7 +21,7 @@ class AP_DCM
{
public:
// Constructors
AP_DCM(AP_IMU *imu, GPS *gps) :
AP_DCM(IMU *imu, GPS *gps) :
_imu(imu),
_gps(gps),
_compass(0),
@ -31,8 +31,8 @@ public:
_course_over_ground_x(0),
_course_over_ground_y(1)
{}
AP_DCM(AP_IMU *imu, GPS *gps, Compass *withCompass) :
AP_DCM(IMU *imu, GPS *gps, Compass *withCompass) :
_imu(imu),
_gps(gps),
_compass(withCompass),
@ -48,7 +48,7 @@ public:
Vector3f get_accel(void) { return _accel_vector; }
Matrix3f get_dcm_matrix(void) {return _dcm_matrix; }
Matrix3f get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix; return temp.transpose();}
void set_centripetal(bool b);
void set_compass(Compass *compass);
@ -83,7 +83,7 @@ private:
// members
Compass * _compass;
GPS * _gps;
AP_IMU * _imu;
IMU * _imu;
Matrix3f _dcm_matrix;
@ -91,7 +91,7 @@ private:
Vector3f _gyro_vector; // Store the gyros turn rate in a vector
Vector3f _omega_P; // Omega Proportional correction
Vector3f _omega_I; // Omega Integrator correction
Vector3f _omega_integ_corr; // Partially corrected Gyro_Vector data - used for centrepetal correction
Vector3f _omega_integ_corr; // Partially corrected Gyro_Vector data - used for centrepetal correction
Vector3f _omega; // Corrected Gyro_Vector data
Vector3f _error_roll_pitch;
Vector3f _error_yaw;