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AP_Compass: use rotation_equal() from AP_Compass

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This commit is contained in:
Andrew Tridgell 2018-10-01 13:04:27 +10:00 committed by Randy Mackay
parent d4eaf09baf
commit 2f2be6afda
2 changed files with 0 additions and 18 deletions
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17
libraries/AP_Compass/CompassCalibrator.cpp
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@ -768,23 +768,6 @@ Vector3f CompassCalibrator::calculate_earth_field(CompassSample &sample, enum Ro
return efield; return efield;
} }
/*
return true if two rotations are equivalent
This copes with the fact that we have some duplicates, like ROLL_180_YAW_90 and PITCH_180_YAW_270
*/
bool CompassCalibrator::rotation_equal(enum Rotation r1, enum Rotation r2) const
{
if (r1 == r2) {
return true;
}
Vector3f v(1,2,3);
Vector3f v1 = v;
Vector3f v2 = v;
v1.rotate(r1);
v2.rotate(r2);
return (v1 - v2).length() < 0.001;
}
/* /*
calculate compass orientation using the attitude estimate associated calculate compass orientation using the attitude estimate associated
with each sample, and fix orientation on external compasses if with each sample, and fix orientation on external compasses if

1
libraries/AP_Compass/CompassCalibrator.h
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@ -171,5 +171,4 @@ private:
Vector3f calculate_earth_field(CompassSample &sample, enum Rotation r); Vector3f calculate_earth_field(CompassSample &sample, enum Rotation r);
bool calculate_orientation(); bool calculate_orientation();
bool rotation_equal(enum Rotation r1, enum Rotation r2) const;
}; };