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[ahrs] remove ltp_to_imu_euler from int_cmpl_quat

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This commit is contained in:
Felix Ruess
2013-03-18 17:58:15 +01:00
parent c9b3c9c91f
commit 61f0c39f79
2 changed files with 11 additions and 2 deletions
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sw/airborne/firmwares/rotorcraft/telemetry.h
+11 -1
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@@ -475,7 +475,17 @@
&(stateGetNedToBodyEulers_i()->psi)); \ &(stateGetNedToBodyEulers_i()->psi)); \
} }
#else #else
#define PERIODIC_SEND_AHRS_EULER_INT(_trans, _dev) {} #define PERIODIC_SEND_AHRS_EULER_INT(_trans, _dev) { \
struct Int32Eulers ltp_to_imu_euler; \
INT32_EULERS_OF_QUAT(ltp_to_imu_euler, ahrs_impl.ltp_to_imu_quat); \
DOWNLINK_SEND_AHRS_EULER_INT(_trans, _dev, \
&ltp_to_imu_euler.phi, \
&ltp_to_imu_euler.theta, \
&ltp_to_imu_euler.psi, \
&(stateGetNedToBodyEulers_i()->phi), \
&(stateGetNedToBodyEulers_i()->theta), \
&(stateGetNedToBodyEulers_i()->psi)); \
}
#endif #endif
#define PERIODIC_SEND_AHRS_RMAT_INT(_trans, _dev) { \ #define PERIODIC_SEND_AHRS_RMAT_INT(_trans, _dev) { \
sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h
-1
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@@ -42,7 +42,6 @@ struct AhrsIntCmpl {
struct Int64Quat high_rez_quat; struct Int64Quat high_rez_quat;
struct Int64Rates high_rez_bias; struct Int64Rates high_rez_bias;
struct Int32Quat ltp_to_imu_quat; struct Int32Quat ltp_to_imu_quat;
struct Int32Eulers ltp_to_imu_euler; // FIXME to compile telemetry
struct Int32Vect3 mag_h; struct Int32Vect3 mag_h;
int32_t ltp_vel_norm; int32_t ltp_vel_norm;
bool_t ltp_vel_norm_valid; bool_t ltp_vel_norm_valid;