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mavlink disable conversion helpers and use Matrix

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Daniel Agar
2018-06-09 21:19:33 +02:00
committed by Lorenz Meier
parent a76c82f5f2
commit 619cc6aedc
3 changed files with 12 additions and 4 deletions
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src/modules/mavlink/mavlink_messages.cpp
+2 -1
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@@ -2852,7 +2852,8 @@ protected:
memcpy(&msg.q[0], &att_sp.q_d[0], sizeof(msg.q));
} else {
mavlink_euler_to_quaternion(att_sp.roll_body, att_sp.pitch_body, att_sp.yaw_body, msg.q);
matrix::Quatf q = matrix::Eulerf(att_sp.roll_body, att_sp.pitch_body, att_sp.yaw_body);
memcpy(&msg.q[0], q.data(), sizeof(msg.q));
}
msg.body_roll_rate = att_rates_sp.roll;