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AC_AttitudeControl: comment thrust_heading_rotation_angles

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non-functional change
This commit is contained in:
Leonard Hall 2017-12-16 23:36:24 +10:30 committed by Randy Mackay
parent 86cbc445bd
commit cddd815a75
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -454,11 +454,11 @@ void AC_AttitudeControl::attitude_controller_run_quat()
// The first rotation corrects the thrust vector and the second rotation corrects the heading vector.
void AC_AttitudeControl::thrust_heading_rotation_angles(Quaternion& att_to_quat, const Quaternion& att_from_quat, Vector3f& att_diff_angle, float& thrust_vec_dot)
{
Matrix3f att_to_rot_matrix; // earth frame to target frame
Matrix3f att_to_rot_matrix; // rotation from the target body frame to the inertial frame.
att_to_quat.rotation_matrix(att_to_rot_matrix);
Vector3f att_to_thrust_vec = att_to_rot_matrix*Vector3f(0.0f,0.0f,1.0f);
Matrix3f att_from_rot_matrix; // earth frame to target frame
Matrix3f att_from_rot_matrix; // rotation from the current body frame to the inertial frame.
att_from_quat.rotation_matrix(att_from_rot_matrix);
Vector3f att_from_thrust_vec = att_from_rot_matrix*Vector3f(0.0f,0.0f,1.0f);