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Remove attitude setpoint matrix from attitude setpoint topic

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Lorenz Meier
2016-10-19 10:17:41 +02:00
committed by Lorenz Meier
parent 5317d29ffd
commit a12780c88f
8 changed files with 47 additions and 58 deletions
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src/modules/vtol_att_control/standard.cpp
+1 -2
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@@ -345,7 +345,7 @@ void Standard::update_mc_state()
}
matrix::Dcmf R(matrix::Quatf(_v_att->q));
matrix::Dcmf R_sp(&_v_att_sp->R_body[0]);
matrix::Dcmf R_sp(matrix::Quatf(_v_att_sp->q_d));
matrix::Eulerf euler(R);
matrix::Eulerf euler_sp(R_sp);
_pusher_throttle = 0.0f;
@@ -390,7 +390,6 @@ void Standard::update_mc_state()
float roll = -atan2f(tilt_new(1), tilt_new(2));
R_sp = matrix::Eulerf(roll, pitch, euler_sp(2));
matrix::Quatf q_sp(R_sp);
memcpy(&_v_att_sp->R_body[0], &R_sp._data[0], sizeof(_v_att_sp->R_body));
memcpy(&_v_att_sp->q_d[0], &q_sp._data[0], sizeof(_v_att_sp->q_d));
}