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MC pos control multiplatform style fix.

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Lorenz Meier
2016-10-19 10:17:41 +02:00
committed by Lorenz Meier
parent 21bc78dedc
commit 14b0511c6c
1 changed files with 2 additions and 3 deletions
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src/examples/mc_pos_control_multiplatform/mc_pos_control.cpp
+2 -3
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@@ -932,14 +932,13 @@ void MulticopterPositionControlMultiplatform::handle_vehicle_attitude(const px4
_R(i, 2) = body_z(i);
}
/* calculate euler angles, for logging only, must not be used for control */
math::Vector<3> eul = _R.to_euler();
math::Quaternion q;
q.from_dcm(_R);
memcpy(_att_sp_msg.data().q_d, q.data, sizeof(_att_sp_msg.data().q_d));
_att_sp_msg.data().q_d_valid = true;
/* calculate euler angles, for logging only, must not be used for control */
math::Vector<3> eul = _R.to_euler();
_att_sp_msg.data().roll_body = eul(0);
_att_sp_msg.data().pitch_body = eul(1);
/* yaw already used to construct rot matrix, but actual rotation matrix can have different yaw near singularity */