Improve readability

src/modules/gimbal/input_mavlink.cpp

@@ -43,6 +43,8 @@
 #include <math.h>
 #include <matrix/matrix/math.hpp>
 
+using namespace matrix;
+
 namespace gimbal
 {
 
@@ -936,21 +938,19 @@ InputMavlinkGimbalV2::UpdateResult InputMavlinkGimbalV2::_process_set_manual_con
 	if (set_manual_control.origin_sysid == control_data.sysid_primary_control &&
 	    set_manual_control.origin_compid == control_data.compid_primary_control) {
 
-		const matrix::Quatf q =
-			(PX4_ISFINITE(set_manual_control.pitch) && PX4_ISFINITE(set_manual_control.yaw))
-			?
-			matrix::Quatf(
-				matrix::Eulerf(0.0f, set_manual_control.pitch, set_manual_control.yaw))
-			:
-			matrix::Quatf(NAN, NAN, NAN, NAN);
-
-		const matrix::Vector3f angular_velocity =
-			(PX4_ISFINITE(set_manual_control.pitch_rate) &&
-			 PX4_ISFINITE(set_manual_control.yaw_rate)) ?
-			matrix::Vector3f(0.0f,
-					 math::radians(_parameters.mnt_rate_pitch) * set_manual_control.pitch_rate,
-					 math::radians(_parameters.mnt_rate_yaw) * set_manual_control.yaw_rate) :
-			matrix::Vector3f(NAN, NAN, NAN);
+		Quatf q(NAN, NAN, NAN, NAN);
+
+		if (PX4_ISFINITE(set_manual_control.pitch) && PX4_ISFINITE(set_manual_control.yaw)) {
+			q = Quatf(matrix::Eulerf(0.0f, set_manual_control.pitch, set_manual_control.yaw));
+		}
+
+		Vector3f angular_velocity(NAN, NAN, NAN);
+
+		if (PX4_ISFINITE(set_manual_control.pitch_rate) && PX4_ISFINITE(set_manual_control.yaw_rate)) {
+			angular_velocity = Vector3f(0.0f,
+						    set_manual_control.pitch_rate * math::radians(_parameters.mnt_rate_pitch),
+						    set_manual_control.yaw_rate * math::radians(_parameters.mnt_rate_yaw));
+		}
 
 		_set_control_data_from_set_attitude(control_data, set_manual_control.flags, q,
 						    angular_velocity, set_manual_control.timestamp);