From 0a7ed1039f5a24ff3eea8003998720372f2fe005 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 28 Feb 2025 23:39:03 +0300
Subject: [PATCH] Rename flu to frd function to match the code style

---
 flix/mavlink.ino | 4 ++--
 gazebo/flix.h    | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index f26cd61..2c7306b 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -40,7 +40,7 @@ void sendMavlink() {
 		lastFast = t;
 
 		const float zeroQuat[] = {0, 0, 0, 0};
-		Quaternion attitudeFRD = FLU2FRD(attitude); // MAVLink uses FRD coordinate system
+		Quaternion attitudeFRD = fluToFrd(attitude); // MAVLink uses FRD coordinate system
 		mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
 			time, attitudeFRD.w, attitudeFRD.x, attitudeFRD.y, attitudeFRD.z, rates.x, rates.y, rates.z, zeroQuat);
 		sendMessage(&msg);
@@ -103,7 +103,7 @@ void handleMavlink(const void *_msg) {
 }
 
 // Convert Forward-Left-Up to Forward-Right-Down quaternion
-inline Quaternion FLU2FRD(const Quaternion &q) {
+inline Quaternion fluToFrd(const Quaternion &q) {
 	return Quaternion(q.w, q.x, -q.y, -q.z);
 }
 
diff --git a/gazebo/flix.h b/gazebo/flix.h
index ab3c015..d7c259b 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -44,7 +44,7 @@ void receiveMavlink();
 void handleMavlink(const void *_msg);
 void failsafe();
 void descend();
-inline Quaternion FLU2FRD(const Quaternion &q);
+inline Quaternion fluToFrd(const Quaternion &q);
 
 // mocks
 void setLED(bool on) {};