From 79975b130959eb014765846ac6dfa97b53813b45 Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Wed, 31 Dec 2014 15:20:18 -0800
Subject: [PATCH] AP_Math: change ROTATION_YAW_293_PITCH_68_ROLL_180 to ROLL_90
---
libraries/AP_Math/examples/rotations/rotations.pde | 2 +-
libraries/AP_Math/rotations.h | 2 +-
libraries/AP_Math/vector3.cpp | 8 ++++----
3 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/libraries/AP_Math/examples/rotations/rotations.pde b/libraries/AP_Math/examples/rotations/rotations.pde
index 2327bd9a5..9473c815b 100644
--- a/libraries/AP_Math/examples/rotations/rotations.pde
+++ b/libraries/AP_Math/examples/rotations/rotations.pde
@@ -147,7 +147,7 @@ static void test_eulers(void)
test_euler(ROTATION_ROLL_270_PITCH_270,270,270, 0);
test_euler(ROTATION_ROLL_90_PITCH_180_YAW_90, 90, 180, 90);
test_euler(ROTATION_ROLL_90_YAW_270, 90, 0, 270);
- test_euler(ROTATION_YAW_293_PITCH_68_ROLL_180,180,68.8,293.3);
+ test_euler(ROTATION_YAW_293_PITCH_68_ROLL_90,90,68.8,293.3);
}
static bool have_rotation(const Matrix3f &m)
diff --git a/libraries/AP_Math/rotations.h b/libraries/AP_Math/rotations.h
index 226b9d141..404f31dc5 100644
--- a/libraries/AP_Math/rotations.h
+++ b/libraries/AP_Math/rotations.h
@@ -64,7 +64,7 @@ enum Rotation {
ROTATION_ROLL_270_PITCH_270 = 35,
ROTATION_ROLL_90_PITCH_180_YAW_90 = 36,
ROTATION_ROLL_90_YAW_270 = 37,
- ROTATION_YAW_293_PITCH_68_ROLL_180 = 38,
+ ROTATION_YAW_293_PITCH_68_ROLL_90 = 38,
ROTATION_MAX
};
/*
diff --git a/libraries/AP_Math/vector3.cpp b/libraries/AP_Math/vector3.cpp
index 8ec1634b0..ae5399df3 100644
--- a/libraries/AP_Math/vector3.cpp
+++ b/libraries/AP_Math/vector3.cpp
@@ -221,13 +221,13 @@ void Vector3<T>::rotate(enum Rotation rotation)
tmp = x; x = y; y = -tmp;
return;
}
- case ROTATION_YAW_293_PITCH_68_ROLL_180: {
+ case ROTATION_YAW_293_PITCH_68_ROLL_90: {
float tmpx = x;
float tmpy = y;
float tmpz = z;
- x = 0.1430389f * tmpx -0.9184465f * tmpy -0.3687762f * tmpz;
- y = -0.3321327f * tmpx -0.3955452f * tmpy +0.8562895f * tmpz;
- z = -0.9323238f * tmpx -0.00000003f * tmpy -0.3616245f * tmpz;
+ x = 0.143039f * tmpx + 0.368776f * tmpy + -0.918446f * tmpz;
+ y = -0.332133f * tmpx + -0.856289f * tmpy + -0.395546f * tmpz;
+ z = -0.932324f * tmpx + 0.361625f * tmpy + 0.000000f * tmpz;
return;
}
}
--
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