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Format fix & Remove redundant lines

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wangwwno1
2021-11-16 13:33:25 +08:00
committed by JaeyoungLim
parent 51ce8306ee
commit 7a1a4ea7a6
1 changed files with 1 additions and 2 deletions
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src/modules/simulator/simulator_mavlink.cpp
+1 -2
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@@ -562,8 +562,7 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg
hil_lpos.vy = hil_state.vy / 100.0f; hil_lpos.vy = hil_state.vy / 100.0f;
hil_lpos.vz = hil_state.vz / 100.0f; hil_lpos.vz = hil_state.vz / 100.0f;
matrix::Eulerf euler = matrix::Quatf(hil_attitude.q); matrix::Eulerf euler = matrix::Quatf(hil_attitude.q);
matrix::Vector3f acc(hil_state.xacc / 1000.f, hil_state.yacc / 1000.f, hil_state.zacc / 1000.f); matrix::Vector3f acc(hil_state.xacc / 1000.f, hil_state.yacc / 1000.f, hil_state.zacc / 1000.f);
acc = matrix::Quatf(hil_state.attitude_quaternion).conjugate(acc);
hil_lpos.ax = acc(0); hil_lpos.ax = acc(0);
hil_lpos.ay = acc(1); hil_lpos.ay = acc(1);
hil_lpos.az = acc(2); hil_lpos.az = acc(2);