diff --git a/LinearAlgebra/src/SwingTwist.cs b/LinearAlgebra/src/SwingTwist.cs
index 04aa57a..025b2d9 100644
--- a/LinearAlgebra/src/SwingTwist.cs
+++ b/LinearAlgebra/src/SwingTwist.cs
@@ -33,12 +33,11 @@ namespace LinearAlgebra {
             return r;
         }
 
-
 #if UNITY_5_3_OR_NEWER
         public static SwingTwist FromQuaternion(Quaternion q) {
             // q.ToAngles(out float right, out float up, out float forward);
             UnityEngine.Vector3 angles = q.eulerAngles;
-            SwingTwist r = new(angles.y, -angles.x, -angles.z);
+            SwingTwist r = Degrees(angles.y, -angles.x, -angles.z);
             return r;
         }
 
@@ -46,7 +45,6 @@ namespace LinearAlgebra {
             Quaternion q = Quaternion.Euler(-this.swing.vertical,
                                    this.swing.horizontal,
                                    -this.twist);
-            System.Console.Write($"{q.eulerAngles}");
             return q;
         }
 #endif        
diff --git a/src/Messages/PoseMsg.cs b/src/Messages/PoseMsg.cs
index fac392e..1ee0b34 100644
--- a/src/Messages/PoseMsg.cs
+++ b/src/Messages/PoseMsg.cs
@@ -108,10 +108,10 @@ namespace RoboidControl {
             if ((this.poseType & Pose_Position) != 0)
                 this.position = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
             if ((this.poseType & Pose_Orientation) != 0)
-                // this.orientation = SwingTwist.FromQuat32(LowLevelMessages.ReceiveQuat32(buffer, ref ix));
+                //this.orientation = SwingTwist.FromQuat32(LowLevelMessages.ReceiveQuat32(buffer, ref ix));
                 this.orientation = LowLevelMessages.ReceiveSwingTwist(buffer, ref ix);
             if ((this.poseType & Pose_LinearVelocity) != 0)
-                this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
+                    this.linearVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
             if ((this.poseType & Pose_AngularVelocity) != 0)
                 this.angularVelocity = LowLevelMessages.ReceiveSpherical(buffer, ref ix);
         }
@@ -133,7 +133,7 @@ namespace RoboidControl {
             if ((poseType & Pose_Position) != 0)
                 LowLevelMessages.SendSpherical(buffer, ref ix, this.position);
             if ((poseType & Pose_Orientation) != 0)
-                // LowLevelMessages.SendQuat32(buffer, ref ix, this.orientation);
+                //LowLevelMessages.SendQuat32(buffer, ref ix, this.orientation);
                 LowLevelMessages.SendSwingTwist(buffer, ref ix, this.orientation);
             if ((poseType & Pose_LinearVelocity) != 0)
                     LowLevelMessages.SendSpherical(buffer, ref ix, this.linearVelocity);