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vmount: use copyTo to copy quaternions

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This commit is contained in:
Julian Oes
2021-02-04 08:12:35 +01:00
committed by Daniel Agar
parent f39216b9c3
commit a2d419c91a
2 changed files with 2 additions and 8 deletions
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src/modules/vmount/input_mavlink.cpp
+1 -4
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@@ -861,10 +861,7 @@ void InputMavlinkGimbalV2::_set_control_data_from_set_attitude(const uint32_t fl
} else {
_control_data.type = ControlData::Type::Angle;
_control_data.type_data.angle.q[0] = q(0);
_control_data.type_data.angle.q[1] = q(1);
_control_data.type_data.angle.q[2] = q(2);
_control_data.type_data.angle.q[3] = q(3);
q.copyTo(_control_data.type_data.angle.q);
_control_data.type_data.angle.angular_velocity[0] = angular_velocity(0);
_control_data.type_data.angle.angular_velocity[1] = angular_velocity(1);
src/modules/vmount/input_test.cpp
+1 -4
View File
@@ -77,10 +77,7 @@ int InputTest::update(unsigned int timeout_ms, ControlData **control_data, bool
math::radians(_angles[2]));
matrix::Quatf q(euler);
_control_data.type_data.angle.q[0] = q(0);
_control_data.type_data.angle.q[1] = q(1);
_control_data.type_data.angle.q[2] = q(2);
_control_data.type_data.angle.q[3] = q(3);
q.copyTo(_control_data.type_data.angle.q);
_control_data.gimbal_shutter_retract = false;
*control_data = &_control_data;