Remove local copy of vehicle attitude

PX4 · Dec 20, 2024 · c652932 · c652932
1 parent 1c81ce7
commit c652932
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/src/lib/collision_prevention/CollisionPrevention.cpp b/src/lib/collision_prevention/CollisionPrevention.cpp
@@ -400,12 +400,11 @@ CollisionPrevention::_addDistanceSensorData(distance_sensor_s &distance_sensor,
 		int lower_bound = (int)round((sensor_yaw_body_deg  - math::degrees(distance_sensor.h_fov / 2.0f)) / BIN_SIZE);
 		int upper_bound = (int)round((sensor_yaw_body_deg  + math::degrees(distance_sensor.h_fov / 2.0f)) / BIN_SIZE);
 
-		const Quatf q_vehicle_attitude(vehicle_attitude);
 		const Quatf q_sensor(Quatf(cosf(sensor_yaw_body_rad / 2.f), 0.f, 0.f, sinf(sensor_yaw_body_rad / 2.f)));
 
 		const Vector3f forward_vector(1.0f, 0.0f, 0.0f);
 
-		const Quatf q_sensor_rotation = q_vehicle_attitude * q_sensor;
+		const Quatf q_sensor_rotation = vehicle_attitude * q_sensor;
 
 		const Vector3f rotated_sensor_vector = q_sensor_rotation.rotateVector(forward_vector);