From 7c2ebd96a0216ddb8b3df615d1be98d41a663564 Mon Sep 17 00:00:00 2001
From: Roman <bapstroman@gmail.com>
Date: Sun, 9 Oct 2016 15:01:42 +0200
Subject: [PATCH] lpe: remove usage of euler angles from attitude topic

Signed-off-by: Roman <bapstroman@gmail.com>
---
 src/modules/local_position_estimator/sensors/flow.cpp  | 2 +-
 src/modules/local_position_estimator/sensors/lidar.cpp | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/modules/local_position_estimator/sensors/flow.cpp b/src/modules/local_position_estimator/sensors/flow.cpp
index 2bfe6dc677..b6356cd87d 100644
--- a/src/modules/local_position_estimator/sensors/flow.cpp
+++ b/src/modules/local_position_estimator/sensors/flow.cpp
@@ -43,7 +43,7 @@ void BlockLocalPositionEstimator::flowDeinit()
 int BlockLocalPositionEstimator::flowMeasure(Vector<float, n_y_flow> &y)
 {
 	// check for sane pitch/roll
-	if (_sub_att.get().roll > 0.5f || _sub_att.get().pitch > 0.5f) {
+	if (_eul(0) > 0.5f || _eul(1) > 0.5f) {
 		return -1;
 	}
 
diff --git a/src/modules/local_position_estimator/sensors/lidar.cpp b/src/modules/local_position_estimator/sensors/lidar.cpp
index 9fbee3ca34..05b67b25f5 100644
--- a/src/modules/local_position_estimator/sensors/lidar.cpp
+++ b/src/modules/local_position_estimator/sensors/lidar.cpp
@@ -53,8 +53,8 @@ int BlockLocalPositionEstimator::lidarMeasure(Vector<float, n_y_lidar> &y)
 	_time_last_lidar = _timeStamp;
 	y.setZero();
 	y(0) = (d + _lidar_z_offset.get()) *
-	       cosf(_sub_att.get().roll) *
-	       cosf(_sub_att.get().pitch);
+	       cosf(_eul(0)) *
+	       cosf(_eul(1));
 	return OK;
 }
 
@@ -67,8 +67,8 @@ void BlockLocalPositionEstimator::lidarCorrect()
 
 	// account for leaning
 	y(0) = y(0) *
-	       cosf(_eul.phi()) *
-	       cosf(_eul.theta());
+	       cosf(_eul(0)) *
+	       cosf(_eul(1));
 
 	// measurement matrix
 	Matrix<float, n_y_lidar, n_x> C;