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AP_Mount: update gimbal for changed quaternion API

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This commit is contained in:
Andrew Tridgell 2015-05-25 09:08:45 +10:00
parent 2a8f645d81
commit d96e62cce7
1 changed files with 2 additions and 5 deletions
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7
libraries/AP_Mount/AP_Gimbal.cpp
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@ -133,8 +133,7 @@ Vector3f AP_Gimbal::getGimbalRateDemVecYaw(const Quaternion &quatEst)
Vector3f AP_Gimbal::getGimbalRateDemVecTilt(const Quaternion &quatEst)
{
// Calculate the gimbal 321 Euler angle estimates relative to earth frame
Vector3f eulerEst;
quatEst.to_vector312(eulerEst.x, eulerEst.y, eulerEst.z);
Vector3f eulerEst = quatEst.to_vector312();
// Calculate a demanded quaternion using the demanded roll and pitch and estimated yaw (yaw is slaved to the vehicle)
Quaternion quatDem;
@ -202,9 +201,7 @@ Vector3f AP_Gimbal::getGimbalEstimateEF()
{
Quaternion quatEst;
_ekf.getQuat(quatEst);
Vector3f eulerEst;
quatEst.to_vector312(eulerEst.x, eulerEst.y, eulerEst.z);
return eulerEst;
return quatEst.to_vector312();
}
bool AP_Gimbal::isCopterFlipped()