From 0bd42402fbac1ec0a4c471cc2fe63ba5844cb6d7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 27 Sep 2016 12:00:04 +0200 Subject: [PATCH] Sim: Remove euler angles --- src/modules/simulator/simulator_mavlink.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index cd77198299..371e071ecc 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -316,8 +316,6 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish) hil_attitude.timestamp = timestamp; 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[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_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.pitchspeed = hil_state.pitchspeed; hil_attitude.yawspeed = hil_state.yawspeed;