rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-30 08:24:11 +01:00
Code Issues Releases Activity

AeroSimRC: (bugfix) replace non-standard _copysign() by copysign()

Browse Source
This commit is contained in:
Oleg Semyonov 2012-07-20 23:13:41 +03:00
parent 8d8a3d0155
commit c80e5a2bc9
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ground/openpilotgcs/src/plugins/hitlv2/aerosimrc/src/udptestwidget.cpp
View File

@ -414,9 +414,9 @@ void Widget::asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q)
y = qSqrt(qMax(0.0, 1.0 - m(0, 0) + m(1, 1) - m(2, 2))) / 2.0;
z = qSqrt(qMax(0.0, 1.0 - m(0, 0) - m(1, 1) + m(2, 2))) / 2.0;
x = _copysign(x, (m(1, 2) - m(2, 1)));
y = _copysign(y, (m(2, 0) - m(0, 2)));
z = _copysign(z, (m(0, 1) - m(1, 0)));
x = copysign(x, (m(1, 2) - m(2, 1)));
y = copysign(y, (m(2, 0) - m(0, 2)));
z = copysign(z, (m(0, 1) - m(1, 0)));
q.setScalar(w);
q.setX(x);
@ -443,7 +443,7 @@ void Widget::asQuat2RPY(const QQuaternion &q, QVector3D &rpy)
qreal R11 = qss - qxx + qyy - qzz;
roll = 0.0;
pitch = _copysign(M_PI_2, test);
pitch = copysign(M_PI_2, test);
yaw = qAtan2(-R10, R11);
} else {
qreal R12 = d2 * (q.y() * q.z() + q.scalar() * q.x());
@ -469,7 +469,7 @@ void Widget::asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy)
if (qFabs(m(0, 2)) > 0.998) {
// ~86.3°, gimbal lock
roll = 0.0;
pitch = _copysign(M_PI_2, -m(0, 2));
pitch = copysign(M_PI_2, -m(0, 2));
yaw = qAtan2(-m(1, 0), m(1, 1));
} else {
roll = qAtan2(m(1, 2), m(2, 2));