Pr update matrix (#15520)

* Update submodule Matrix

* replace deprecated matrix functions

* update submodule ECL

* Update Matrix submodule

* Use absolute value of loiter radius

* Update ECL submodule

src/lib/ecl

@@ -1 +1 @@
-Subproject commit 7eb2b08eedb70817779bc7968cf34a4cf6f01fa0
+Subproject commit ec934908900b23ee273d1a9f82364b7b38423200

src/lib/matrix

@@ -1 +1 @@
-Subproject commit 0fd99c59f1740a7aa2ead03168705b4211bf29e8
+Subproject commit 25c04553488bb86470592a1cdccac56979bf59bb

src/modules/navigator/mission_block.cpp

@@ -440,7 +440,7 @@ MissionBlock::is_mission_item_reached()
 
 				// Replace current setpoint lat/lon with tangent coordinate
 				waypoint_from_heading_and_distance(curr_sp.lat, curr_sp.lon,
-								   bearing, curr_sp.loiter_radius,
+								   bearing, fabsf(curr_sp.loiter_radius),
 								   &curr_sp.lat, &curr_sp.lon);
 			}
 

src/modules/sih/sih.cpp

@@ -268,7 +268,7 @@ void Sih::generate_force_and_torques()
 // apply the equations of motion of a rigid body and integrate one step
 void Sih::equations_of_motion()
 {
-	_C_IB = _q.to_dcm(); // body to inertial transformation
+	_C_IB = matrix::Dcm<float>(_q); // body to inertial transformation
 
 	// Equations of motion of a rigid body
 	_p_I_dot = _v_I;                        // position differential

src/modules/uuv_att_control/uuv_att_control.cpp

@@ -200,7 +200,7 @@ void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &att, con
 
 	/* get current rotation matrix from control state quaternions */
 	Quatf q_att(att.q[0], att.q[1], att.q[2], att.q[3]);
-	Matrix3f _rot_att = q_att.to_dcm();
+	Matrix3f _rot_att =  matrix::Dcm<float>(q_att);
 
 	Vector3f e_R_vec;
 	Vector3f torques;

src/systemcmds/tests/test_mathlib.cpp

@@ -261,8 +261,7 @@ bool MathlibTest::testQuaternionfrom_dcm()
 	matrix::Matrix3f R_orig;
 	R_orig.identity();
 
-	matrix::Quatf q;
-	q.from_dcm(R_orig);
+	matrix::Quatf q(R_orig);
 
 	for (unsigned i = 0; i < 4; i++) {
 		ut_assert("matrix::Quatf method 'from_dcm()' outside tolerance!", fabsf(q(i) - q_true(i)) < tol);
@@ -279,8 +278,7 @@ bool MathlibTest::testQuaternionfrom_euler()
 	matrix::Matrix3f R_orig;
 	R_orig.identity();
 
-	matrix::Quatf q;
-	q.from_dcm(R_orig);
+	matrix::Quatf q(R_orig);
 
 	q_true = matrix::Eulerf(0.3f, 0.2f, 0.1f);
 	q = {0.9833f, 0.1436f, 0.1060f, 0.0343f};

src/systemcmds/tests/test_matrix.cpp

@@ -305,21 +305,21 @@ bool MatrixTest::attitudeTests()
 
 	// get rotation axis from quaternion (nonzero rotation)
 	q = Quatf(cosf(1.0f / 2), 0.0f, sinf(1.0f / 2), 0.0f);
-	rot = q.to_axis_angle();
+	rot = matrix::AxisAngle<float>(q);
 	ut_test(fabs(rot(0)) < eps);
 	ut_test(fabs(rot(1) - 1.0f) < eps);
 	ut_test(fabs(rot(2)) < eps);
 
 	// get rotation axis from quaternion (zero rotation)
 	q = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
-	rot = q.to_axis_angle();
+	rot = matrix::AxisAngle<float>(q);
 	ut_test(fabs(rot(0)) < eps);
 	ut_test(fabs(rot(1)) < eps);
 	ut_test(fabs(rot(2)) < eps);
 
 	// from axis angle (zero rotation)
 	rot(0) = rot(1) = rot(2) = 0.0f;
-	q.from_axis_angle(rot, 0.0f);
+	q = Quaternion<float>(matrix::AxisAngle<float>(rot));
 	q_true = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
 	ut_test(fabs(q(0) - q_true(0)) < eps);
 	ut_test(fabs(q(1) - q_true(1)) < eps);