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attitude setpoint topic: cleanup of matrix class usage

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-09-27 22:03:36 +02:00
committed by Lorenz Meier
parent ee314d2f50
commit 3faaeb06d1
10 changed files with 31 additions and 44 deletions
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src/drivers/vmount/output.cpp
+1 -2
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@@ -187,8 +187,7 @@ void OutputBase::_calculate_output_angles(const hrt_abstime &t)
orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &vehicle_attitude);
}
matrix::Quaternion<float> q(&vehicle_attitude.q[0]);
matrix::Euler<float> euler(q);
matrix::Eulerf euler = matrix::Quatf(vehicle_attitude.q);
for (int i = 0; i < 3; ++i) {
if (_stabilize[i]) {