From f8e471d95cbca9434e99b68a9f3e146c0a597b53 Mon Sep 17 00:00:00 2001
From: Anton Matosov <anton.matosov@gmail.com>
Date: Fri, 6 Mar 2015 18:52:52 -0800
Subject: Implemented Quaternion position for Gimbal (not tested)

---
 src/drivers/gimbal/gimbal.cpp | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/src/drivers/gimbal/gimbal.cpp b/src/drivers/gimbal/gimbal.cpp
index 441e5b40c..ccda4c0a5 100644
--- a/src/drivers/gimbal/gimbal.cpp
+++ b/src/drivers/gimbal/gimbal.cpp
@@ -75,6 +75,7 @@
 
 #include <board_config.h>
 #include <mathlib/math/test/test.hpp>
+#include <mathlib/math/Quaternion.hpp>
 
 /* Configuration Constants */
 
@@ -325,18 +326,16 @@ Gimbal::cycle()
 
 		}
 
-#if 0
-		// XXX change this to the real quaternion command
 		if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && mountMode == VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
+			float gimbalDirectionQuat[] = {cmd.param1, cmd.param2, cmd.param3, cmd.param4};
+			math::Vector<3> gimablDirectionEuler = math::Quaternion(gimbalDirectionQuat).to_dcm().to_euler();
 
-			/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
-			roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1;
-			pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2;
-			yaw += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param3;
+			roll += gimablDirectionEuler(0);
+			pitch += gimablDirectionEuler(1);
+			yaw += gimablDirectionEuler(2);
 
 			updated = true;
 		}
-#endif
 	}
 
 	if (updated) {
-- 
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