From 21bc78dedc681b5c116f518021ec9b41d946e8f6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 18 Oct 2016 09:51:10 +0200 Subject: [PATCH] Update ROS att estimator and remove unused rotation matrix --- .../attitude_estimator/attitude_estimator.cpp | 15 --------------- 1 file changed, 15 deletions(-) diff --git a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp index a3569f0c00..92be9f3adc 100644 --- a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp +++ b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp @@ -104,21 +104,6 @@ void AttitudeEstimator::ImuCallback(const sensor_msgs::ImuConstPtr &msg) msg_v_att.q[2] = quat(2); msg_v_att.q[3] = quat(3); - math::Matrix<3, 3> rot = quat.to_dcm(); - - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - PX4_R(msg_v_att.R, i, j) = rot(i, j); - } - } - - msg_v_att.R_valid = true; - - math::Vector<3> euler = rot.to_euler(); - msg_v_att.roll = euler(0); - msg_v_att.pitch = euler(1); - msg_v_att.yaw = euler(2); - msg_v_att.rollspeed = (float)msg->angular_velocity.x; msg_v_att.pitchspeed = -(float)msg->angular_velocity.y; msg_v_att.yawspeed = -(float)msg->angular_velocity.z;