state interface: positions and speed done, cleanup

paparazzi · Feb 21, 2011 · 6f8ded0 · 6f8ded0
1 parent b7a09ce
commit 6f8ded0
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diff --git a/sw/airborne/math/pprz_algebra.h b/sw/airborne/math/pprz_algebra.h
@@ -567,6 +567,18 @@
     (_ri).r = RATE_BFP_OF_REAL((_rf).r);		\
   }
 
+#define SPEEDS_FLOAT_OF_BFP(_ef, _ei) {			\
+    (_ef).x = SPEED_FLOAT_OF_BFP((_ei).x);		\
+    (_ef).y = SPEED_FLOAT_OF_BFP((_ei).y);		\
+    (_ef).z = SPEED_FLOAT_OF_BFP((_ei).z);		\
+  }
+
+#define SPEEDS_BFP_OF_REAL(_ef, _ei) {			\
+    (_ef).x = SPEED_BFP_OF_REAL((_ei).x);		\
+    (_ef).y = SPEED_BFP_OF_REAL((_ei).y);		\
+    (_ef).z = SPEED_BFP_OF_REAL((_ei).z);		\
+  }
+
 #define ACCELS_FLOAT_OF_BFP(_ef, _ei) {			\
     (_ef).x = ACCEL_FLOAT_OF_BFP((_ei).x);		\
     (_ef).y = ACCEL_FLOAT_OF_BFP((_ei).y);		\