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[rotorcraft] get rid of some warnings in ardrone2_sdk

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Felix Ruess
2014-11-05 17:03:32 +01:00
parent dd445fba0f
commit 43dc0c8154
2 changed files with 7 additions and 2 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
+1
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@@ -30,6 +30,7 @@
#include "state.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude.h"
#include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
#include "paparazzi.h"
sw/airborne/subsystems/ins/ins_ardrone2.c
+6 -2
View File
@@ -92,8 +92,12 @@ void ins_reset_altitude_ref( void ) {
void ins_propagate(float __attribute__((unused)) dt) {
/* untilt accels and speeds */
float_rmat_transp_vmult(&ins_impl.ltp_accel, stateGetNedToBodyRMat_f(), &ahrs_impl.accel);
float_rmat_transp_vmult(&ins_impl.ltp_speed, stateGetNedToBodyRMat_f(), &ahrs_impl.speed);
float_rmat_transp_vmult((struct FloatVect3*)&ins_impl.ltp_accel,
stateGetNedToBodyRMat_f(),
(struct FloatVect3*)&ahrs_impl.accel);
float_rmat_transp_vmult((struct FloatVect3*)&ins_impl.ltp_speed,
stateGetNedToBodyRMat_f(),
(struct FloatVect3*)&ahrs_impl.speed);
//Add g to the accelerations
ins_impl.ltp_accel.z += 9.81;