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Sim: Remove euler angles

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Lorenz Meier
2016-09-27 12:00:04 +02:00
parent 13833e5fd6
commit 0bd42402fb
1 changed files with 0 additions and 6 deletions
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src/modules/simulator/simulator_mavlink.cpp
-6
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@@ -316,8 +316,6 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
hil_attitude.timestamp = timestamp; hil_attitude.timestamp = timestamp;
math::Quaternion q(hil_state.attitude_quaternion); math::Quaternion q(hil_state.attitude_quaternion);
math::Matrix<3, 3> C_nb = q.to_dcm();
math::Vector<3> euler = C_nb.to_euler();
hil_attitude.q[0] = q(0); hil_attitude.q[0] = q(0);
hil_attitude.q[1] = q(1); hil_attitude.q[1] = q(1);
@@ -325,10 +323,6 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
hil_attitude.q[3] = q(3); hil_attitude.q[3] = q(3);
hil_attitude.q_valid = true; 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.rollspeed = hil_state.rollspeed;
hil_attitude.pitchspeed = hil_state.pitchspeed; hil_attitude.pitchspeed = hil_state.pitchspeed;
hil_attitude.yawspeed = hil_state.yawspeed; hil_attitude.yawspeed = hil_state.yawspeed;