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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/vtol_att_control/tailsitter.cpp
+2 -3
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@@ -131,9 +131,8 @@ void Tailsitter::update_vtol_state()
* For the backtransition the pitch is controlled in MC mode again and switches to full MC control reaching the sufficient pitch angle.
*/
matrix::Quaternion<float> q(&_v_att->q[0]);
matrix::Euler<float> euler(q);
float pitch = euler(1);
matrix::Eulerf euler = matrix::Quatf(_v_att->q);
float pitch = euler.theta();
if (!_attc->is_fixed_wing_requested()) {