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attitude setpoint topic: cleanup of matrix class usage

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-09-27 22:03:36 +02:00
committed by Lorenz Meier
parent ee314d2f50
commit 3faaeb06d1
10 changed files with 31 additions and 44 deletions
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7
src/modules/commander/accelerometer_calibration.cpp
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@@ -687,10 +687,9 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub) {
}
orb_copy(ORB_ID(vehicle_attitude), att_sub, &att);
matrix::Quaternion<float> q(&att.q[0]);
matrix::Euler<float> euler(q);
roll_mean += euler(0);
pitch_mean += euler(1);
matrix::Eulerf euler = matrix::Quatf(att.q);
roll_mean += euler.phi();
pitch_mean += euler.theta();
counter++;
}