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removed comments and fixed some euler bugs

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This commit is contained in:
Roman
2016-04-20 22:06:11 +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/mavlink/mavlink_receiver.cpp
+1 -6
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@@ -1920,8 +1920,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
math::Vector<3> euler = C_nb.to_euler();
hil_attitude.timestamp = timestamp;
//memcpy(hil_attitude.R, C_nb.data, sizeof(hil_attitude.R));
//hil_attitude.R_valid = true;
hil_attitude.q[0] = q(0);
hil_attitude.q[1] = q(1);
@@ -1929,9 +1927,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_attitude.q[3] = q(3);
hil_attitude.q_valid = true;
//hil_attitude.roll = euler(0);
//hil_attitude.pitch = euler(1);
//hil_attitude.yaw = euler(2);
hil_attitude.rollspeed = hil_state.rollspeed;
hil_attitude.pitchspeed = hil_state.pitchspeed;
hil_attitude.yawspeed = hil_state.yawspeed;
@@ -1957,7 +1952,7 @@ 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(1);
hil_global_pos.yaw = euler(2);
hil_global_pos.eph = 2.0f;
hil_global_pos.epv = 4.0f;