Format fix & Remove redundant lines

3 years ago · 7a1a4ea7a6
1 changed files with 1 additions and 2 deletions
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@ -562,8 +562,7 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg
				@@ -562,8 +562,7 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg
 		hil_lpos.vy = hil_state.vy / 100.0f;
 		hil_lpos.vz = hil_state.vz / 100.0f;
 		matrix::Eulerf euler = matrix::Quatf(hil_attitude.q);
-	        matrix::Vector3f acc(hil_state.xacc / 1000.f, hil_state.yacc / 1000.f, hil_state.zacc / 1000.f);
-	        acc = matrix::Quatf(hil_state.attitude_quaternion).conjugate(acc);
+		matrix::Vector3f acc(hil_state.xacc / 1000.f, hil_state.yacc / 1000.f,  hil_state.zacc / 1000.f);
 		hil_lpos.ax = acc(0);
 		hil_lpos.ay = acc(1);
 		hil_lpos.az = acc(2);