Changeset 167 in flair-src for trunk/lib/FlairFilter/src/JoyReference_impl.cpp
- Timestamp:
- 04/12/17 13:59:38 (6 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairFilter/src/JoyReference_impl.cpp
r148 r167 168 168 input->GetMutex(); 169 169 170 Vector3D theta_xy(170 Vector3Df theta_xy( 171 171 -Euler::ToRadian(input->ValueNoMutex(0, 0) * deb_roll->Value()), 172 172 -Euler::ToRadian(input->ValueNoMutex(1, 0) * deb_pitch->Value()), 0); 173 Vector3D e_bar = theta_xy;173 Vector3Df e_bar = theta_xy; 174 174 e_bar.Normalize(); 175 175 Quaternion q_xy(cos(theta_xy.GetNorm() / 2.0f), … … 192 192 input->ReleaseMutex(); 193 193 194 ahrsData->SetQuaternionAndAngularRates(q_ref, Vector3D (0, 0, wz_ref));194 ahrsData->SetQuaternionAndAngularRates(q_ref, Vector3Df(0, 0, wz_ref)); 195 195 196 196 // ouput quaternion for control law
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