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removed comments and fixed some euler bugs

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Roman
2016-10-18 20:46:08 +02:00
committed by Lorenz Meier
parent 5e0e522903
commit b8a219d351
6 changed files with 5 additions and 30 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
-9
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@@ -468,10 +468,6 @@ void AttitudeEstimatorQ::task_main()
struct vehicle_attitude_s att = {};
att.timestamp = sensors.timestamp;
//att.roll = euler(0);
//att.pitch = euler(1);
//att.yaw = euler(2);
att.rollspeed = _rates(0);
att.pitchspeed = _rates(1);
att.yawspeed = _rates(2);
@@ -483,11 +479,6 @@ void AttitudeEstimatorQ::task_main()
///* copy offsets */
//memcpy(&att.rate_offsets, _gyro_bias.data, sizeof(att.rate_offsets));
//Matrix<3, 3> R = _q.to_dcm();
///* copy rotation matrix */
//memcpy(&att.R[0], R.data, sizeof(att.R));
//att.R_valid = true;
memcpy(&att.q[0], _q.data, sizeof(att.q));
att.q_valid = true;