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mavlink move to matrix lib

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Daniel Agar 2018-03-21 16:04:51 -04:00 committed by Beat Küng
parent 7830d3503e
commit ad2b96b523
1 changed files with 5 additions and 5 deletions
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10
src/modules/mavlink/mavlink_messages.cpp
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@ -1808,11 +1808,11 @@ protected:
vmsg.x = vpos.x;
vmsg.y = vpos.y;
vmsg.z = vpos.z;
math::Quaternion q(vatt.q);
math::Vector<3> rpy = q.to_euler();
vmsg.roll = rpy(0);
vmsg.pitch = rpy(1);
vmsg.yaw = rpy(2);
matrix::Eulerf euler = matrix::Quatf(vatt.q);
vmsg.roll = euler.phi();
vmsg.pitch = euler.theta();
vmsg.yaw = euler.psi();
mavlink_msg_vision_position_estimate_send_struct(_mavlink->get_channel(), &vmsg);
}