Skip to content

Revert "Use QQuaternion instead of mavlink_quaternion_to_euler" #13692

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
DonLakeFlyer merged 1 commit into from
Dec 4, 2025
Merged

Revert "Use QQuaternion instead of mavlink_quaternion_to_euler" #13692

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
26 changes: 7 additions & 19 deletions src/Gimbal/GimbalController.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,6 @@
#include "SettingsManager.h"
#include "Vehicle.h"

#include <QtGui/QQuaternion>

QGC_LOGGING_CATEGORY(GimbalControllerLog, "Gimbal.GimbalController")

GimbalController::GimbalController(Vehicle *vehicle)
Expand Down Expand Up @@ -236,25 +234,15 @@ void GimbalController::_handleGimbalDeviceAttitudeStatus(const mavlink_message_t
gimbal->setYawLock((attitude_status.flags & GIMBAL_DEVICE_FLAGS_YAW_LOCK) > 0);
gimbal->_neutral = (attitude_status.flags & GIMBAL_DEVICE_FLAGS_NEUTRAL) > 0;

// Convert from QQuaternion to Euler angles. We specifically don't use mavlink_quaternion_to euler
// because that seems to spew NaNs for boundary conditions. Whereas QQuaternion seems to handle things
// more cleanly.
QQuaternion q(
attitude_status.q[0],
attitude_status.q[1],
attitude_status.q[2],
attitude_status.q[3]);
auto vector3D = q.toEulerAngles();
float roll = vector3D.z();
float pitch = vector3D.y();
float yaw = vector3D.x();

gimbal->setAbsoluteRoll(roll);
gimbal->setAbsolutePitch(pitch);
float roll, pitch, yaw;
mavlink_quaternion_to_euler(attitude_status.q, &roll, &pitch, &yaw);

gimbal->setAbsoluteRoll(qRadiansToDegrees(roll));
gimbal->setAbsolutePitch(qRadiansToDegrees(pitch));

const bool yaw_in_vehicle_frame = _yawInVehicleFrame(attitude_status.flags);
if (yaw_in_vehicle_frame) {
const float bodyYaw = yaw;
const float bodyYaw = qRadiansToDegrees(yaw);
float absoluteYaw = bodyYaw + _vehicle->heading()->rawValue().toFloat();
if (absoluteYaw > 180.0f) {
absoluteYaw -= 360.0f;
Expand All @@ -264,7 +252,7 @@ void GimbalController::_handleGimbalDeviceAttitudeStatus(const mavlink_message_t
gimbal->setAbsoluteYaw(absoluteYaw);

} else {
const float absoluteYaw = yaw;
const float absoluteYaw = qRadiansToDegrees(yaw);
float bodyYaw = absoluteYaw - _vehicle->heading()->rawValue().toFloat();
if (bodyYaw < -180.0f) {
bodyYaw += 360.0f;
Expand Down
Loading