mc_pos_control move to matrix lib #9141
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MaEtUgR
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Mar 23, 2018
| @@ -2708,7 +2706,7 @@ MulticopterPositionControl::calculate_thrust_setpoint() | |||
| * project the desired thrust force vector F onto the real vehicle's thrust axis in NED: | |||
| * body thrust axis [0,0,-1]' rotated by R is: R*[0,0,-1]' = -R_z */ | |||
| matrix::Vector3f R_z(_R(0, 2), _R(1, 2), _R(2, 2)); | |||
| matrix::Vector3f F(thrust_sp.data); | |||
| matrix::Vector3f F(thrust_sp); | |||
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The extra variable F was only for interface conversion to matrix library. You can delete this line and just write the next one: float thrust_body_z = thrust_sp.dot(-R_z);
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The motivation for doing this now is to kill off the old mathlib matrix/vector entirely, freeing enough flash for Flight Tasks on px4fmu-v2.