From ad2b96b523779eb560189a1e73c40eff73ea4e33 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 21 Mar 2018 16:04:51 -0400 Subject: [PATCH] mavlink move to matrix lib --- src/modules/mavlink/mavlink_messages.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 15d752ce03..fb8be5ad57 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -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); }