[paparazzi-commits] [paparazzi/paparazzi] dd1746: [math][ins] rewrite/move some math to ins_float_in...

[GitHub]

  Branch: refs/heads/invariant_math_rewrite
  Home:   https://github.com/paparazzi/paparazzi
  Commit: dd1746bd83421c130bf861138124482861a9dbeb
      
https://github.com/paparazzi/paparazzi/commit/dd1746bd83421c130bf861138124482861a9dbeb
  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