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AHRS: fixed build on ARM

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This commit is contained in:
Andrew Tridgell 2013-01-02 13:53:43 +11:00
parent 5277dd4b0f
commit 3ac3aeb1b1
2 changed files with 2 additions and 5 deletions
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3
libraries/AP_AHRS/AP_AHRS.h
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@ -198,9 +198,6 @@ protected:
// accelerometer values in the earth frame in m/s/s
Vector3f _accel_ef;
// acceleration due to gravity in m/s/s
const float _gravity = 9.80665;
};
#include <AP_AHRS_DCM.h>

4
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -485,7 +485,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
// equation 9: get the corrected acceleration vector in earth frame. Units
// are m/s/s
Vector3f GA_e;
float v_scale = gps_gain.get()/(_ra_deltat*_gravity);
float v_scale = gps_gain.get()/(_ra_deltat*GRAVITY_MSS);
Vector3f vdelta = (velocity - _last_velocity) * v_scale;
// limit vertical acceleration correction to 0.5 gravities. The
// barometer sometimes gives crazy acceleration changes.
@ -498,7 +498,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
}
// calculate the error term in earth frame.
Vector3f GA_b = _ra_sum / (_ra_deltat * _gravity);
Vector3f GA_b = _ra_sum / (_ra_deltat * GRAVITY_MSS);
float length = GA_b.length();
if (length > 1.0) {
GA_b /= length;