From e7a06b9413be503ee86fd40211529a3202616d91 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sun, 13 Apr 2025 01:42:47 +0300
Subject: [PATCH] Minor code simplifications

---
 flix/mavlink.ino            |  4 ++--
 gazebo/models/flix/flix.sdf | 38 +++++++------------------------------
 2 files changed, 9 insertions(+), 33 deletions(-)

diff --git a/flix/mavlink.ino b/flix/mavlink.ino
index 6162b5d..ff4445c 100644
--- a/flix/mavlink.ino
+++ b/flix/mavlink.ino
@@ -40,9 +40,9 @@ void sendMavlink() {
 		lastFast = t;
 
 		const float zeroQuat[] = {0, 0, 0, 0};
-		Quaternion attitudeFRD = fluToFrd(attitude); // MAVLink uses FRD coordinate system
+		Quaternion att = 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);
+			time, att.w, att.x, att.y, att.z, rates.x, rates.y, rates.z, zeroQuat);
 		sendMessage(&msg);
 
 		mavlink_msg_rc_channels_scaled_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlsTime * 1000, 0,
diff --git a/gazebo/models/flix/flix.sdf b/gazebo/models/flix/flix.sdf
index 2c0863d..a374f3a 100644
--- a/gazebo/models/flix/flix.sdf
+++ b/gazebo/models/flix/flix.sdf
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 <sdf version="1.5">
 	<model name="flix">
+		<plugin name="flix" filename="libflix.so"/>
 		<link name="body">
 			<inertial>
 				<mass>0.065</mass>
@@ -23,38 +24,14 @@
 				<update_rate>1000</update_rate>
 				<imu>
 					<angular_velocity>
-						<x>
-							<noise type="gaussian">
-								<stddev>0.00174533</stddev><!-- 0.1 degrees per second -->
-							</noise>
-						</x>
-						<y>
-							<noise type="gaussian">
-								<stddev>0.00174533</stddev>
-							</noise>
-						</y>
-						<z>
-							<noise type="gaussian">
-								<stddev>0.00174533</stddev>
-							</noise>
-						</z>
+						<x><noise type="gaussian"><stddev>0.00174533</stddev></noise></x><!-- 0.1 degrees per second -->
+						<y><noise type="gaussian"><stddev>0.00174533</stddev></noise></y>
+						<z><noise type="gaussian"><stddev>0.00174533</stddev></noise></z>
 					</angular_velocity>
 					<linear_acceleration>
-						<x>
-							<noise type="gaussian">
-								<stddev>0.0784</stddev><!-- 8 mg -->
-							</noise>
-						</x>
-						<y>
-							<noise type="gaussian">
-								<stddev>0.0784</stddev>
-							</noise>
-						</y>
-						<z>
-							<noise type="gaussian">
-								<stddev>0.0784</stddev>
-							</noise>
-						</z>
+						<x><noise type="gaussian"><stddev>0.0784</stddev></noise></x><!-- 8 mg -->
+						<y><noise type="gaussian"><stddev>0.0784</stddev></noise></y>
+						<z><noise type="gaussian"><stddev>0.0784</stddev></noise></z>
 					</linear_acceleration>
 				</imu>
 			</sensor>
@@ -90,6 +67,5 @@
 				<material><ambient>1 1 1 0.5</ambient><diffuse>1 1 1 0.5</diffuse></material>
 			</visual>
 		</link>
-		<plugin name="flix" filename="libflix.so"/>
 	</model>
 </sdf>