From 70a485826d088a0f70482c07393cf1f8fea6c5a3 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 5 Jun 2017 18:15:51 -0400 Subject: [PATCH] attitude_estimator_q remove unused and small publish cleanup --- .../attitude_estimator_q_main.cpp | 25 +++++++++---------- 1 file changed, 12 insertions(+), 13 deletions(-) diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp index 0fc9b159f0..d9c3b90803 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp @@ -459,20 +459,19 @@ void AttitudeEstimatorQ::task_main() continue; } - Vector<3> euler = _q.to_euler(); + { + vehicle_attitude_s att = { + .timestamp = sensors.timestamp, + .rollspeed = _rates(0), + .pitchspeed = _rates(1), + .yawspeed = _rates(2), + .q = {_q(0), _q(1), _q(2), _q(3)} + }; - struct vehicle_attitude_s att = {}; - att.timestamp = sensors.timestamp; - - att.rollspeed = _rates(0); - att.pitchspeed = _rates(1); - att.yawspeed = _rates(2); - - memcpy(&att.q[0], _q.data, sizeof(att.q)); - - /* the instance count is not used here */ - int att_inst; - orb_publish_auto(ORB_ID(vehicle_attitude), &_att_pub, &att, &att_inst, ORB_PRIO_HIGH); + /* the instance count is not used here */ + int att_inst; + orb_publish_auto(ORB_ID(vehicle_attitude), &_att_pub, &att, &att_inst, ORB_PRIO_HIGH); + } { struct control_state_s ctrl_state = {};