diff --git a/src/modules/vmount/output.cpp b/src/modules/vmount/output.cpp index 2e07d81632..d9d01bb372 100644 --- a/src/modules/vmount/output.cpp +++ b/src/modules/vmount/output.cpp @@ -207,13 +207,13 @@ void OutputBase::_calculate_output_angles(const hrt_abstime &t) //get the output angles and stabilize if necessary vehicle_attitude_s vehicle_attitude; + matrix::Eulerf euler; if (_stabilize[0] || _stabilize[1] || _stabilize[2]) { orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &vehicle_attitude); + euler = matrix::Quatf(vehicle_attitude.q); } - matrix::Eulerf euler = matrix::Quatf(vehicle_attitude.q); - for (int i = 0; i < 3; ++i) { if (_stabilize[i]) { _angle_outputs[i] = _angle_setpoints[i] - euler(i);