HAL_SITL: removed earth-frame rates

libraries/AP_HAL_SITL/sitl_ins.cpp

@@ -151,17 +151,11 @@ void SITL_State::_update_ins(float roll, 	float pitch, 	float yaw,		// Relative
                              double xAccel, 	double yAccel, 	double zAccel,		// Local to plane
                              float airspeed,	float altitude)
 {
-    double p, q, r;
-
     if (_ins == NULL) {
         // no inertial sensor in this sketch
         return;
     }
 
-    SITL::convert_body_frame(roll, pitch,
-                             rollRate, pitchRate, yawRate,
-                             &p, &q, &r);
-
     // minimum noise levels are 2 bits, but averaged over many
     // samples, giving around 0.01 m/s/s
     float accel_noise = 0.01f;
@@ -191,9 +185,9 @@ void SITL_State::_update_ins(float roll, 	float pitch, 	float yaw,		// Relative
     _ins->set_accel(0, Vector3f(xAccel1, yAccel1, zAccel1) + _ins->get_accel_offsets(0));
     _ins->set_accel(1, Vector3f(xAccel2, yAccel2, zAccel2) + _ins->get_accel_offsets(1));
 
-    p += _gyro_drift();
-    q += _gyro_drift();
-    r += _gyro_drift();
+    float p = radians(rollRate) + _gyro_drift();
+    float q = radians(pitchRate) + _gyro_drift();
+    float r = radians(yawRate) + _gyro_drift();
 
     float p1 = p + gyro_noise * _rand_float();
     float q1 = q + gyro_noise * _rand_float();

libraries/AP_HAL_SITL/sitl_optical_flow.cpp

@@ -33,7 +33,6 @@ static OpticalFlow::OpticalFlow_state optflow_data[MAX_OPTFLOW_DELAY];
  */
 void SITL_State::_update_flow(void)
 {
-    double p, q, r;
     Vector3f gyro;
     static uint32_t last_flow_ms;
 
@@ -49,14 +48,9 @@ void SITL_State::_update_flow(void)
     }
     last_flow_ms = now;
 
-    // convert roll rates to body frame
-    SITL::convert_body_frame(_sitl->state.rollDeg,
-                             _sitl->state.pitchDeg,
-                             _sitl->state.rollRate,
-                             _sitl->state.pitchRate,
-                             _sitl->state.yawRate,
-                             &p, &q, &r);
-    gyro(p, q, r);
+    gyro(radians(_sitl->state.rollRate), 
+         radians(_sitl->state.pitchRate), 
+         radians(_sitl->state.yawRate));
 
     OpticalFlow::OpticalFlow_state state;