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Rename flu to frd function to match the code style

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This commit is contained in:
Oleg Kalachev 2025-02-28 23:39:03 +03:00
parent d4d1797ffc
commit 0a7ed1039f
2 changed files with 3 additions and 3 deletions
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4
flix/mavlink.ino
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@ -40,7 +40,7 @@ void sendMavlink() {
lastFast = t; lastFast = t;
const float zeroQuat[] = {0, 0, 0, 0}; const float zeroQuat[] = {0, 0, 0, 0};
Quaternion attitudeFRD = FLU2FRD(attitude); // MAVLink uses FRD coordinate system Quaternion attitudeFRD = fluToFrd(attitude); // MAVLink uses FRD coordinate system
mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
time, attitudeFRD.w, attitudeFRD.x, attitudeFRD.y, attitudeFRD.z, rates.x, rates.y, rates.z, zeroQuat); time, attitudeFRD.w, attitudeFRD.x, attitudeFRD.y, attitudeFRD.z, rates.x, rates.y, rates.z, zeroQuat);
sendMessage(&msg); sendMessage(&msg);
@ -103,7 +103,7 @@ void handleMavlink(const void *_msg) {
} }
// Convert Forward-Left-Up to Forward-Right-Down quaternion // Convert Forward-Left-Up to Forward-Right-Down quaternion
inline Quaternion FLU2FRD(const Quaternion &q) { inline Quaternion fluToFrd(const Quaternion &q) {
return Quaternion(q.w, q.x, -q.y, -q.z); return Quaternion(q.w, q.x, -q.y, -q.z);
} }

2
gazebo/flix.h
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@ -44,7 +44,7 @@ void receiveMavlink();
void handleMavlink(const void *_msg); void handleMavlink(const void *_msg);
void failsafe(); void failsafe();
void descend(); void descend();
inline Quaternion FLU2FRD(const Quaternion &q); inline Quaternion fluToFrd(const Quaternion &q);
// mocks // mocks
void setLED(bool on) {}; void setLED(bool on) {};