Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: remove custom_rotation matrix to frontend

Browse Source 
Only one of these per vehicle
This commit is contained in:
Peter Barker 2021-08-20 12:55:38 +10:00 committed by Andrew Tridgell
parent 645a5302d0
commit d6c7c59199
2 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_AHRS/AP_AHRS.h
View File

@ -485,6 +485,11 @@ private:
AP_Float _custom_pitch; AP_Float _custom_pitch;
AP_Float _custom_yaw; AP_Float _custom_yaw;
/*
* support for custom AHRS orientation, replacing _board_orientation
*/
Matrix3f _custom_rotation;
enum class EKFType { enum class EKFType {
NONE = 0 NONE = 0
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE

2
libraries/AP_AHRS/AP_AHRS_Backend.h
View File

@ -430,8 +430,6 @@ protected:
// multi-thread access support // multi-thread access support
HAL_Semaphore _rsem; HAL_Semaphore _rsem;
Matrix3f _custom_rotation;
// calculate sin/cos of roll/pitch/yaw from rotation // calculate sin/cos of roll/pitch/yaw from rotation
void calc_trig(const Matrix3f &rot, void calc_trig(const Matrix3f &rot,
float &cr, float &cp, float &cy, float &cr, float &cp, float &cy,