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ACM: removed the special case for quaternions in GCS code

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This commit is contained in:
Andrew Tridgell 2012-03-07 15:11:58 +11:00
parent 1547977e1b
commit 13bddf05b0
1 changed files with 0 additions and 2 deletions
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ArduCopter/GCS_Mavlink.pde
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@ -99,7 +99,6 @@ static void NOINLINE send_meminfo(mavlink_channel_t chan)
static void NOINLINE send_location(mavlink_channel_t chan) static void NOINLINE send_location(mavlink_channel_t chan)
{ {
#if QUATERNION_ENABLE == DISABLED
Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now
mavlink_msg_global_position_int_send( mavlink_msg_global_position_int_send(
chan, chan,
@ -109,7 +108,6 @@ static void NOINLINE send_location(mavlink_channel_t chan)
g_gps->ground_speed * rot.a.x, g_gps->ground_speed * rot.a.x,
g_gps->ground_speed * rot.b.x, g_gps->ground_speed * rot.b.x,
g_gps->ground_speed * rot.c.x); g_gps->ground_speed * rot.c.x);
#endif
} }
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan) static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)