From a2d419c91a6af9a87d2b4e375aee32103f308d8d Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Thu, 4 Feb 2021 08:12:35 +0100 Subject: [PATCH] vmount: use copyTo to copy quaternions --- src/modules/vmount/input_mavlink.cpp | 5 +---- src/modules/vmount/input_test.cpp | 5 +---- 2 files changed, 2 insertions(+), 8 deletions(-) diff --git a/src/modules/vmount/input_mavlink.cpp b/src/modules/vmount/input_mavlink.cpp index 07518537a9..1c0fb12a61 100644 --- a/src/modules/vmount/input_mavlink.cpp +++ b/src/modules/vmount/input_mavlink.cpp @@ -861,10 +861,7 @@ void InputMavlinkGimbalV2::_set_control_data_from_set_attitude(const uint32_t fl } else { _control_data.type = ControlData::Type::Angle; - _control_data.type_data.angle.q[0] = q(0); - _control_data.type_data.angle.q[1] = q(1); - _control_data.type_data.angle.q[2] = q(2); - _control_data.type_data.angle.q[3] = q(3); + q.copyTo(_control_data.type_data.angle.q); _control_data.type_data.angle.angular_velocity[0] = angular_velocity(0); _control_data.type_data.angle.angular_velocity[1] = angular_velocity(1); diff --git a/src/modules/vmount/input_test.cpp b/src/modules/vmount/input_test.cpp index dc979a0d3d..4670521ec3 100644 --- a/src/modules/vmount/input_test.cpp +++ b/src/modules/vmount/input_test.cpp @@ -77,10 +77,7 @@ int InputTest::update(unsigned int timeout_ms, ControlData **control_data, bool math::radians(_angles[2])); matrix::Quatf q(euler); - _control_data.type_data.angle.q[0] = q(0); - _control_data.type_data.angle.q[1] = q(1); - _control_data.type_data.angle.q[2] = q(2); - _control_data.type_data.angle.q[3] = q(3); + q.copyTo(_control_data.type_data.angle.q); _control_data.gimbal_shutter_retract = false; *control_data = &_control_data;