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This commit is contained in:
Antoine Drouin
2009-02-19 07:05:55 +00:00
parent 862d352257
commit 3f6467e929
3 changed files with 32 additions and 1 deletions
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sw/airborne/booz/booz2_hf_float.c
+22
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@@ -0,0 +1,22 @@
#include "booz2_hf_float.h"
struct FloatVect3 bhff_accel_bias;
struct FloatVect3 bhff_pos;
struct FloatVect3 bhff_speed_ltp;
struct FloatVect3 bhff_accel_ltp;
void bhff_update(void) {
struct FloatVect3 accel_body;
/* unbias accels */
FLOAT_VECT3_SUB(accel_body, booz2_imu_accel, bhff_accel_bias);
/* convert to LTP */
}
sw/airborne/booz/booz2_hf_float.h
+7
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@@ -0,0 +1,7 @@
#ifnedf BOOZ2_HF_FLOAT_H
#define BOOZ2_HF_FLOAT_H
#include "pprz_algebra_float.h"
#endif /* BOOZ2_HF_FLOAT_H */
sw/airborne/pprz_algebra_float.h
+3 -1
View File
@@ -9,7 +9,7 @@ struct FloatVect3 {
};
#define PPRZ_FLOAT_VECT3_COPY(_o, _i) { \
#define FLOAT_VECT3_COPY(_o, _i) { \
_o.x = _i.x; \
_o.y = _i.y; \
_o.z = _i.z; \
@@ -18,4 +18,6 @@ struct FloatVect3 {
#endif /* PPRZ_ALGEBRA_FLOAT_H */