{"action":"created","comment":{"url":"https://api.github.com/repos/paparazzi/paparazzi/pulls/comments/242592338","pull_request_review_id":186139567,"id":242592338,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDI0MjU5MjMzOA==","diff_hunk":"@@ -412,10 +412,10 @@ void int32_quat_of_axis_angle(struct Int32Quat *q, struct Int32Vect3 *uv, int32_\n   PPRZ_ITRIG_SIN(san2, (angle / 2));\n   int32_t can2;\n   PPRZ_ITRIG_COS(can2, (angle / 2));\n-  q->qi = can2;\n-  q->qx = san2 * uv->x;\n-  q->qy = san2 * uv->y;\n-  q->qz = san2 * uv->z;\n+  q->qi = (can2 << 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where in this file, INT_MULT_RSHIFT is used to complete multiplications which multiplies then scales, any specific reason that isn't done here?","created_at":"2018-12-18T15:51:37Z","updated_at":"2018-12-18T15:57:15Z","html_url":"https://github.com/paparazzi/paparazzi/pull/2367#discussion_r242592338","pull_request_url":"https://api.github.com/repos/paparazzi/paparazzi/pulls/2367","author_association":"MEMBER","_links":{"self":{"href":"https://api.github.com/repos/paparazzi/paparazzi/pulls/comments/242592338"},"html":{"href":"https://github.com/paparazzi/paparazzi/pull/2367#discussion_r242592338"},"pull_request":{"href":"https://api.github.com/repos/paparazzi/paparazzi/pulls/2367"}}},"pull_request":{"url":"https://api.github.com/repos/paparazzi/paparazzi/pulls/2367","id":237712684,"node_id":"MDExOlB1bGxSZXF1ZXN0MjM3NzEyNjg0","html_url":"https://github.com/paparazzi/paparazzi/pull/2367","diff_url":"https://github.com/paparazzi/paparazzi/pull/2367.diff","patch_url":"https://github.com/paparazzi/paparazzi/pull/2367.patch","issue_url":"https://api.github.com/repos/paparazzi/paparazzi/issues/2367","number":2367,"state":"open","locked":false,"title":"[math] fix quat_of_axis 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