{"action":"created","comment":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/comments/60536082","id":60536082,"diff_hunk":"@@ -573,32 +573,23 @@ void AttitudeEstimatorQ::task_main()\n \t\tstruct vehicle_attitude_s att = {};\n \t\tatt.timestamp = sensors.timestamp;\n \n-\t\tatt.roll = euler(0);\n-\t\tatt.pitch = euler(1);\n-\t\tatt.yaw = euler(2);\n-\n \t\tatt.rollspeed = _rates(0);\n \t\tatt.pitchspeed = _rates(1);\n \t\tatt.yawspeed = _rates(2);\n \n-\t\tfor (int i = 0; i < 3; i++) {\n-\t\t\tatt.g_comp[i] = _accel(i) - _pos_acc(i);\n-\t\t}\n-\n-\t\t/* copy offsets */\n-\t\tmemcpy(&att.rate_offsets, _gyro_bias.data, sizeof(att.rate_offsets));\n+\t\t//for (int i = 0; i < 3; i++) {\n+\t\t//\tatt.g_comp[i] = _accel(i) - _pos_acc(i);\n+\t\t//}\n \n-\t\tMatrix<3, 3> R = _q.to_dcm();\n+\t\t///* copy offsets */\n+\t\t//memcpy(&att.rate_offsets, _gyro_bias.data, sizeof(att.rate_offsets));\n \n-\t\t/* copy rotation matrix */\n-\t\tmemcpy(&att.R[0], R.data, sizeof(att.R));\n-\t\tatt.R_valid = true;\n \t\tmemcpy(&att.q[0], _q.data, sizeof(att.q));\n \t\tatt.q_valid = true;\n \n-\t\tatt.rate_vibration = _voter_gyro.get_vibration_factor(hrt_absolute_time());\n-\t\tatt.accel_vibration = _voter_accel.get_vibration_factor(hrt_absolute_time());\n-\t\tatt.mag_vibration = _voter_mag.get_vibration_factor(hrt_absolute_time());\n+\t\t//att.rate_vibration = _voter_gyro.get_vibration_factor(hrt_absolute_time());","path":"src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp","position":35,"original_position":35,"commit_id":"bd7be50f0528e458eaca5a58f33e1e619f179469","original_commit_id":"bd7be50f0528e458eaca5a58f33e1e619f179469","user":{"login":"LorenzMeier","id":1208119,"avatar_url":"https://avatars.githubusercontent.com/u/1208119?v=3","gravatar_id":"","url":"https://api.github.com/users/LorenzMeier","html_url":"https://github.com/LorenzMeier","followers_url":"https://api.github.com/users/LorenzMeier/followers","following_url":"https://api.github.com/users/LorenzMeier/following{/other_user}","gists_url":"https://api.github.com/users/LorenzMeier/gists{/gist_id}","starred_url":"https://api.github.com/users/LorenzMeier/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LorenzMeier/subscriptions","organizations_url":"https://api.github.com/users/LorenzMeier/orgs","repos_url":"https://api.github.com/users/LorenzMeier/repos","events_url":"https://api.github.com/users/LorenzMeier/events{/privacy}","received_events_url":"https://api.github.com/users/LorenzMeier/received_events","type":"User","site_admin":false},"body":"Don't comment out stuff","created_at":"2016-04-21T07:25:01Z","updated_at":"2016-04-21T07:25:01Z","html_url":"https://github.com/PX4/Firmware/pull/4312#discussion_r60536082","pull_request_url":"https://api.github.com/repos/PX4/Firmware/pulls/4312","_links":{"self":{"href":"https://api.github.com/repos/PX4/Firmware/pulls/comments/60536082"},"html":{"href":"https://github.com/PX4/Firmware/pull/4312#discussion_r60536082"},"pull_request":{"href":"https://api.github.com/repos/PX4/Firmware/pulls/4312"}}},"pull_request":{"url":"https://api.github.com/repos/PX4/Firmware/pulls/4312","id":67214266,"html_url":"https://github.com/PX4/Firmware/pull/4312","diff_url":"https://github.com/PX4/Firmware/pull/4312.diff","patch_url":"https://github.com/PX4/Firmware/pull/4312.patch","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/4312","number":4312,"state":"open","locked":false,"title":"WIP: Attitude message cleanup","user":{"login":"tumbili","id":7610489,"avatar_url":"https://avatars.githubusercontent.com/u/7610489?v=3","gravatar_id":"","url":"https://api.github.com/users/tumbili","html_url":"https://github.com/tumbili","followers_url":"https://api.github.com/users/tumbili/followers","following_url":"https://api.github.com/users/tumbili/following{/other_user}","gists_url":"https://api.github.com/users/tumbili/gists{/gist_id}","starred_url":"https://api.github.com/users/tumbili/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tumbili/subscriptions","organizations_url":"https://api.github.com/users/tumbili/orgs","repos_url":"https://api.github.com/users/tumbili/repos","events_url":"https://api.github.com/users/tumbili/events{/privacy}","received_events_url":"https://api.github.com/users/tumbili/received_events","type":"User","site_admin":false},"body":"This removes out all the irrelevant and redundant data out of the attitude topic.\r\nThe main reason why we do this is because the new logger app #4282 will log entire topics and so we don't want to burn the logging bandwidth on redundant data.\r\n\r\nThis needs review, testing in SITL and testing outdoors.\r\nAt several locations code has been commented out. If we agree on the content of the attitude message then this code can be 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