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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
2016-10-18 20:46:08 +02:00
committed by Lorenz Meier
parent ee314d2f50
commit 3faaeb06d1
10 changed files with 31 additions and 44 deletions
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src/modules/commander/accelerometer_calibration.cpp
+3 -4
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@@ -687,10 +687,9 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub) {
}
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
matrix::Quaternion<float> q(&att.q[0]);
matrix::Euler<float> euler(q);
roll_mean += euler(0);
pitch_mean += euler(1);
matrix::Eulerf euler = matrix::Quatf(att.q);
roll_mean += euler.phi();
pitch_mean += euler.theta();
counter++;
}
src/modules/commander/commander.cpp
+2 -3
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@@ -1168,9 +1168,8 @@ static void commander_set_home_position(orb_advert_t &homePub, home_position_s &
home.y = localPosition.y;
home.z = localPosition.z;
matrix::Quaternion<float> q(&attitude.q[0]);
matrix::Euler<float> euler(q);
home.yaw = euler(2);
matrix::Eulerf euler = matrix::Quatf(attitude.q);
home.yaw = euler.psi();
PX4_INFO("home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);