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Attitude estimator EKF: fix warnings

This commit is contained in:
Lorenz Meier 2014-12-26 17:36:10 +01:00
parent 407889ea2c
commit ed493918f7
2 changed files with 3 additions and 3 deletions
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4
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
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@ -462,11 +462,11 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000)) {
math::Quaternion q(vision.q);
math::Matrix<3, 3> R = q.to_dcm();
math::Matrix<3, 3> Rvis = q.to_dcm();
math::Vector<3> v(1.0f, 0.0f, 0.4f);
math::Vector<3> vn = R * v;
math::Vector<3> vn = Rvis * v;
z_k[6] = vn(0);
z_k[7] = vn(1);

2
src/modules/attitude_estimator_ekf/module.mk
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@ -45,4 +45,4 @@ MODULE_STACKSIZE = 1200
EXTRACFLAGS = -Wno-float-equal -Wframe-larger-than=3600
EXTRACXXFLAGS = -Wframe-larger-than=2200
EXTRACXXFLAGS = -Wframe-larger-than=2400