From 1cfaccfd7b9d063c81a73424dc56059a3f0f7efc Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Tue, 11 Sep 2018 14:55:31 +0100
Subject: [PATCH] mavlink_receiver: use typedef dcmf for DCM matrices
---
src/modules/mavlink/mavlink_receiver.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 471e5a05f1..9bbaac5f17 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1204,7 +1204,7 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
struct vehicle_odometry_s odometry = {};
/* Dcm rotation matrix from body frame to local NED frame */
- matrix::Dcm<float> Rbl;
+ matrix::Dcmf Rbl;
odometry.timestamp = _mavlink_timesync.sync_stamp(odom.time_usec);
/* The position is in the local NED frame */
@@ -1233,7 +1233,7 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
if (odom.child_frame_id == MAV_FRAME_BODY_FRD) { /* WRT to estimated vehicle body-fixed frame */
/* get quaternion from the msg quaternion itself and build DCM matrix from it */
- Rbl = matrix::Dcm<float>(matrix::Quatf(odometry.q)).I();
+ Rbl = matrix::Dcmf(matrix::Quatf(odometry.q)).I();
/* the linear velocities needs to be transformed to the local NED frame */
matrix::Vector3<float> linvel_local(Rbl * matrix::Vector3<float>(odom.vx, odom.vy, odom.vz));
@@ -1255,7 +1255,7 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &_att);
/* get quaternion from vehicle_attitude quaternion and build DCM matrix from it */
- Rbl = matrix::Dcm<float>(matrix::Quatf(_att.q)).I();
+ Rbl = matrix::Dcmf(matrix::Quatf(_att.q)).I();
/* the linear velocities needs to be transformed to the local NED frame */
matrix::Vector3<float> linvel_local(Rbl * matrix::Vector3<float>(odom.vx, odom.vy, odom.vz));
@@ -1280,7 +1280,7 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &_att);
/* get quaternion from vehicle_attitude quaternion and build DCM matrix from it */
- matrix::Dcm<float> Rlb = matrix::Quatf(_att.q);
+ matrix::Dcmf Rlb = matrix::Quatf(_att.q);
odometry.vx = odom.vx;
odometry.vy = odom.vy;
--
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