[paparazzi-commits] [paparazzi/paparazzi] c7fcf1: [math] rmat|quat_identity functions

[GitHub]

  Branch: refs/heads/invariant_math_rewrite
  Home:   https://github.com/paparazzi/paparazzi
  Commit: c7fcf10745b479b9f4345966598541a2ea6e3c54
      
https://github.com/paparazzi/paparazzi/commit/c7fcf10745b479b9f4345966598541a2ea6e3c54
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-12 (Fri, 12 Sep 2014)

  Changed paths:
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c
    M sw/airborne/math/pprz_algebra_double.h
    M sw/airborne/math/pprz_algebra_float.c
    M sw/airborne/math/pprz_algebra_float.h
    M sw/airborne/math/pprz_algebra_int.h
    M sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
    M sw/airborne/subsystems/ins/ins_float_invariant.c
    M sw/airborne/test/test_algebra.c

  Log Message:
  -----------
  [math] rmat|quat_identity functions


  Commit: f1109a4a60bea353b9f67752b7df3408fdab25b2
      
https://github.com/paparazzi/paparazzi/commit/f1109a4a60bea353b9f67752b7df3408fdab25b2
  Author: Felix Ruess <address@hidden>
  Date:   2014-09-12 (Fri, 12 Sep 2014)

  Changed paths:
    M sw/airborne/math/pprz_algebra_float.h
    M sw/airborne/subsystems/ins/ins_float_invariant.c

  Log Message:
  -----------
  [math][ins] rewrite/move some math to ins_float_invariant

- use float_quat_vmult instead of FLOAT_QUAT_RMAT_B2N|N2B
- use float_quat_derivative instead of float_quat_vmul_left


Compare: 
https://github.com/paparazzi/paparazzi/compare/3d2e737365de...f1109a4a60be