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Code Issues Releases Activity

OP-1434 - Use vector_lengthf, fix a typo in a comment

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This commit is contained in:
Alessio Morale 2014-09-14 21:44:41 +02:00
parent 3fd5ca08cd
commit 3e785cf929
1 changed files with 4 additions and 3 deletions
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7
flight/modules/StateEstimation/filtermag.c
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@ -38,6 +38,7 @@
#include <homelocation.h>
#include <auxmagsettings.h>
#include <CoordinateConversions.h>
#include <mathmisc.h>
// Private constants
//
@ -82,8 +83,8 @@ static int32_t init(stateFilter *self)
this->magBias[0] = this->magBias[1] = this->magBias[2] = 0.0f;
this->warningcount = this->errorcount = 0;
HomeLocationBeGet(this->homeLocationBe);
// magBe holds the squared magnetic vector length (extpected)
this->magBe = sqrtf(this->homeLocationBe[0] * this->homeLocationBe[0] + this->homeLocationBe[1] * this->homeLocationBe[1] + this->homeLocationBe[2] * this->homeLocationBe[2]);
// magBe holds the squared magnetic vector length (expected)
this->magBe = vector_lengthf(this->homeLocationBe, 3);
this->invMagBe = 1.0f / this->magBe;
RevoCalibrationGet(&this->revoCalibration);
RevoSettingsGet(&this->revoSettings);
@ -195,7 +196,7 @@ static bool checkMagValidity(struct data *this, float error, bool setAlarms)
static float getMagError(struct data *this, float mag[3])
{
// vector norm
float magnitude = sqrtf(mag[0] * mag[0] + mag[1] * mag[1] + mag[2] * mag[2]);
float magnitude = vector_lengthf(mag, 3);
// absolute value of relative error against Be
float error = fabsf(magnitude - this->magBe) * this->invMagBe;