From 57f193174c2aa9490f732253630fc3c111ee0a06 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 27 Sep 2016 18:28:52 +0200 Subject: [PATCH] Fix mc att control multiplatform --- .../mc_att_control_base.cpp | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control_base.cpp b/src/examples/mc_att_control_multiplatform/mc_att_control_base.cpp index 8a1b4968e4..719fbaec47 100644 --- a/src/examples/mc_att_control_multiplatform/mc_att_control_base.cpp +++ b/src/examples/mc_att_control_multiplatform/mc_att_control_base.cpp @@ -86,14 +86,12 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) _thrust_sp = _v_att_sp->data().thrust; /* construct attitude setpoint rotation matrix */ - math::Matrix<3, 3> R_sp; - matrix::Quaternion q_sp(&_v_att_sp->data().q_d[0]); - R_sp.set(&q_sp._data[0][0]); + math::Quaternion q_sp(&_v_att_sp->data().q_d[0]); + math::Matrix<3, 3> R_sp = q_sp.to_dcm(); /* rotation matrix for current state */ - math::Matrix<3, 3> R; - matrix::Quaternion q(&_v_att->data().q[0]); - R.set(&q._data[0][0]); + math::Quaternion q(&_v_att->data().q[0]); + math::Matrix<3, 3> R = q.to_dcm(); /* all input data is ready, run controller itself */