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fixed the previous commit

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This commit is contained in:
Ewoud Smeur
2016-06-29 11:52:44 +02:00
parent d22b727abd
commit e51f67b40c
2 changed files with 4 additions and 4 deletions
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sw/airborne/math/pprz_algebra_float.c
+1 -1
View File
@@ -248,7 +248,7 @@ void float_rmat_integrate_fi(struct FloatRMat *rm, struct FloatRates *omega, flo
} }
}; };
struct FloatRMat R_tdt; struct FloatRMat R_tdt;
float_rmat_comp(R_tdt, *rm, exp_omega_dt); float_rmat_comp(&R_tdt, rm, &exp_omega_dt);
memcpy(rm, &R_tdt, sizeof(R_tdt)); memcpy(rm, &R_tdt, sizeof(R_tdt));
} }
sw/airborne/state.c
+3 -3
View File
@@ -704,7 +704,7 @@ void stateCalcHorizontalSpeedNorm_i(void)
} else if (bit_is_set(state.speed_status, SPEED_NED_I)) { } else if (bit_is_set(state.speed_status, SPEED_NED_I)) {
uint32_t n2 = (state.ned_speed_i.x * state.ned_speed_i.x + uint32_t n2 = (state.ned_speed_i.x * state.ned_speed_i.x +
state.ned_speed_i.y * state.ned_speed_i.y) >> INT32_SPEED_FRAC; state.ned_speed_i.y * state.ned_speed_i.y) >> INT32_SPEED_FRAC;
int32_sqrt(state.h_speed_norm_i, n2); state.h_speed_norm_i = int32_sqrt(n2);
} else if (bit_is_set(state.speed_status, SPEED_NED_F)) { } else if (bit_is_set(state.speed_status, SPEED_NED_F)) {
state.h_speed_norm_f = FLOAT_VECT2_NORM(state.ned_speed_f); state.h_speed_norm_f = FLOAT_VECT2_NORM(state.ned_speed_f);
SetBit(state.speed_status, SPEED_HNORM_F); SetBit(state.speed_status, SPEED_HNORM_F);
@@ -712,7 +712,7 @@ void stateCalcHorizontalSpeedNorm_i(void)
} else if (bit_is_set(state.speed_status, SPEED_ENU_I)) { } else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
uint32_t n2 = (state.enu_speed_i.x * state.enu_speed_i.x + uint32_t n2 = (state.enu_speed_i.x * state.enu_speed_i.x +
state.enu_speed_i.y * state.enu_speed_i.y) >> INT32_SPEED_FRAC; state.enu_speed_i.y * state.enu_speed_i.y) >> INT32_SPEED_FRAC;
int32_sqrt(state.h_speed_norm_i, n2); state.h_speed_norm_i = int32_sqrt(n2);
} else if (bit_is_set(state.speed_status, SPEED_ENU_F)) { } else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
state.h_speed_norm_f = FLOAT_VECT2_NORM(state.enu_speed_f); state.h_speed_norm_f = FLOAT_VECT2_NORM(state.enu_speed_f);
SetBit(state.speed_status, SPEED_HNORM_F); SetBit(state.speed_status, SPEED_HNORM_F);
@@ -723,7 +723,7 @@ void stateCalcHorizontalSpeedNorm_i(void)
SetBit(state.speed_status, SPEED_NED_I); SetBit(state.speed_status, SPEED_NED_I);
uint32_t n2 = (state.ned_speed_i.x * state.ned_speed_i.x + uint32_t n2 = (state.ned_speed_i.x * state.ned_speed_i.x +
state.ned_speed_i.y * state.ned_speed_i.y) >> INT32_SPEED_FRAC; state.ned_speed_i.y * state.ned_speed_i.y) >> INT32_SPEED_FRAC;
int32_sqrt(state.h_speed_norm_i, n2); state.h_speed_norm_i = int32_sqrt(n2);
} else if (bit_is_set(state.speed_status, SPEED_ECEF_F)) { } else if (bit_is_set(state.speed_status, SPEED_ECEF_F)) {
ned_of_ecef_vect_f(&state.ned_speed_f, &state.ned_origin_f, &state.ecef_speed_f); ned_of_ecef_vect_f(&state.ned_speed_f, &state.ned_origin_f, &state.ecef_speed_f);
SetBit(state.speed_status, SPEED_NED_F); SetBit(state.speed_status, SPEED_NED_F);