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[rotorcraft] remove unused STICKS_RMAT312 hack

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This commit is contained in:
Felix Ruess
2013-05-02 23:27:27 +02:00
parent 1de769b6f2
commit e28f7ff45f
2 changed files with 7 additions and 16 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
+5 -14
View File
@@ -62,14 +62,9 @@ static inline void reset_psi_ref_from_body(void) {
stab_att_ref_accel.r = 0;
}
static void update_ref_quat_from_eulers(void) {
static inline void update_ref_quat_from_eulers(void) {
struct FloatRMat ref_rmat;
#ifdef STICKS_RMAT312
FLOAT_RMAT_OF_EULERS_312(ref_rmat, stab_att_ref_euler);
#else
FLOAT_RMAT_OF_EULERS_321(ref_rmat, stab_att_ref_euler);
#endif
FLOAT_RMAT_OF_EULERS(ref_rmat, stab_att_ref_euler);
FLOAT_QUAT_OF_RMAT(stab_att_ref_quat, ref_rmat);
FLOAT_QUAT_WRAP_SHORTEST(stab_att_ref_quat);
}
@@ -90,16 +85,12 @@ void stabilization_attitude_ref_init(void) {
}
void stabilization_attitude_ref_schedule(uint8_t idx)
{
void stabilization_attitude_ref_schedule(uint8_t idx) {
ref_idx = idx;
}
void stabilization_attitude_ref_enter()
{
void stabilization_attitude_ref_enter(void) {
reset_psi_ref_from_body();
//FIXME
//stabilization_attitude_sp_enter();
update_ref_quat_from_eulers();
}
@@ -113,7 +104,7 @@ void stabilization_attitude_ref_enter()
#define STABILIZATION_ATTITUDE_REF_QUAT_INFINITESIMAL_STEP TRUE
#endif
void stabilization_attitude_ref_update() {
void stabilization_attitude_ref_update(void) {
/* integrate reference attitude */
#if STABILIZATION_ATTITUDE_REF_QUAT_INFINITESIMAL_STEP
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c
+2 -2
View File
@@ -99,7 +99,7 @@ void stabilization_attitude_ref_init(void) {
}
void stabilization_attitude_ref_enter()
void stabilization_attitude_ref_enter(void)
{
reset_psi_ref_from_body();
@@ -122,7 +122,7 @@ void stabilization_attitude_ref_enter()
// which is equal to >> 9
#define F_UPDATE_RES 9
void stabilization_attitude_ref_update() {
void stabilization_attitude_ref_update(void) {
/* integrate reference attitude */
struct Int32Quat qdot;