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attitude_estimator_q remove unused and small publish cleanup

This commit is contained in:
Daniel Agar 2017-06-05 18:15:51 -04:00
parent 9b08cf686f
commit 70a485826d
1 changed files with 12 additions and 13 deletions
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25
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
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@ -459,20 +459,19 @@ void AttitudeEstimatorQ::task_main()
continue;
}
Vector<3> euler = _q.to_euler();
{
vehicle_attitude_s att = {
.timestamp = sensors.timestamp,
.rollspeed = _rates(0),
.pitchspeed = _rates(1),
.yawspeed = _rates(2),
.q = {_q(0), _q(1), _q(2), _q(3)}
};
struct vehicle_attitude_s att = {};
att.timestamp = sensors.timestamp;
att.rollspeed = _rates(0);
att.pitchspeed = _rates(1);
att.yawspeed = _rates(2);
memcpy(&att.q[0], _q.data, sizeof(att.q));
/* the instance count is not used here */
int att_inst;
orb_publish_auto(ORB_ID(vehicle_attitude), &_att_pub, &att, &att_inst, ORB_PRIO_HIGH);
/* the instance count is not used here */
int att_inst;
orb_publish_auto(ORB_ID(vehicle_attitude), &_att_pub, &att, &att_inst, ORB_PRIO_HIGH);
}
{
struct control_state_s ctrl_state = {};