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Code Issues Releases Activity

GCS/HITL/Xplane9 - added correct quaternion calculation

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3115 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2011-04-01 15:11:09 +00:00 committed by corvus
parent 89061ac606
commit 63f4ba514f
1 changed files with 10 additions and 4 deletions
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14
ground/openpilotgcs/src/plugins/hitlnew/xplanesimulator.cpp
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@ -341,10 +341,16 @@ void XplaneSimulator::processUpdate(const QByteArray& dataBuf)
attActualData.Roll = roll; //roll;
attActualData.Pitch = pitch; // pitch
attActualData.Yaw = heading; // Yaw
// attActualData.q1 = 0;
// attActualData.q2 = 0;
// attActualData.q3 = 0;
// attActualData.q4 = 0;
float rpy[3];
float quat[4];
rpy[0] = roll;
rpy[1] = pitch;
rpy[2] = heading;
Utils::CoordinateConversions().RPY2Quaternion(rpy,quat);
attActualData.q1 = quat[0];
attActualData.q2 = quat[1];
attActualData.q3 = quat[2];
attActualData.q4 = quat[3];
attActual->setData(attActualData);
// Update gps objects