From 51ce8306eeea164107b165057511b331e8da3d31 Mon Sep 17 00:00:00 2001 From: wangwwno1 Date: Thu, 11 Nov 2021 17:35:09 +0800 Subject: [PATCH] Remove redundant code out of hil_lpos --- src/modules/simulator/simulator_mavlink.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 2fd76a2781..db51fb16e5 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -533,9 +533,6 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg // always publish ground truth attitude message _gpos_ground_truth_pub.publish(hil_gpos); } - - matrix::Vector3f acc(hil_state.xacc / 1000.f, hil_state.yacc / 1000.f, hil_state.zacc / 1000.f); - acc = matrix::Quatf(hil_state.attitude_quaternion).conjugate(acc); /* local position */ vehicle_local_position_s hil_lpos{};