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attitude message cleanup: more cleanup

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-10-18 20:46:08 +02:00
committed by Lorenz Meier
parent 3faaeb06d1
commit a978d61d9a
6 changed files with 20 additions and 26 deletions
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src/modules/mavlink/mavlink_messages.cpp
+6 -8
View File
@@ -841,12 +841,11 @@ protected:
if (_att_sub->update(&_att_time, &att)) {
mavlink_attitude_t msg;
matrix::Quaternion<float> q(&att.q[0]);
matrix::Euler<float> euler(q);
matrix::Eulerf euler = matrix::Quatf(att.q);
msg.time_boot_ms = att.timestamp / 1000;
msg.roll = euler(0);
msg.pitch = euler(1);
msg.yaw = euler(2);
msg.roll = euler.phi();
msg.pitch = euler.theta();
msg.yaw = euler.psi();
msg.rollspeed = att.rollspeed;
msg.pitchspeed = att.pitchspeed;
msg.yawspeed = att.yawspeed;
@@ -1015,11 +1014,10 @@ protected:
if (updated) {
mavlink_vfr_hud_t msg;
matrix::Quaternion<float> q(&att.q[0]);
matrix::Euler<float> euler(q);
matrix::Eulerf euler = matrix::Quatf(att.q);
msg.airspeed = airspeed.indicated_airspeed_m_s;
msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e);
msg.heading = _wrap_2pi(euler(2)) * M_RAD_TO_DEG_F;
msg.heading = _wrap_2pi(euler.psi()) * M_RAD_TO_DEG_F;
msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f;
if (_pos_time > 0) {
src/modules/mavlink/mavlink_receiver.cpp
+4 -6
View File
@@ -1942,8 +1942,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
{
struct vehicle_global_position_s hil_global_pos;
memset(&hil_global_pos, 0, sizeof(hil_global_pos));
matrix::Quaternion<float> q(&hil_attitude.q[0]);
matrix::Euler<float> euler(q);
matrix::Eulerf euler = matrix::Quatf(hil_attitude.q);
hil_global_pos.timestamp = timestamp;
hil_global_pos.lat = hil_state.lat / ((double)1e7);
hil_global_pos.lon = hil_state.lon / ((double)1e7);
@@ -1951,7 +1950,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_global_pos.vel_n = hil_state.vx / 100.0f;
hil_global_pos.vel_e = hil_state.vy / 100.0f;
hil_global_pos.vel_d = hil_state.vz / 100.0f;
hil_global_pos.yaw = euler(2);
hil_global_pos.yaw = euler.psi();
hil_global_pos.eph = 2.0f;
hil_global_pos.epv = 4.0f;
@@ -1992,9 +1991,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_local_pos.vx = hil_state.vx / 100.0f;
hil_local_pos.vy = hil_state.vy / 100.0f;
hil_local_pos.vz = hil_state.vz / 100.0f;
matrix::Quaternion<float> q(&hil_attitude.q[0]);
matrix::Euler<float> euler(q);
hil_local_pos.yaw = euler(2);
matrix::Eulerf euler = matrix::Quatf(hil_attitude.q);
hil_local_pos.yaw = euler.psi();
hil_local_pos.xy_global = true;
hil_local_pos.z_global = true;