(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
if pitch > 30*pi/180:
val = (100.0/65)*abs(pitch)*180/pi
(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(msg.orientation.__getstate__())
if pitch > 30*pi/180:
val = (100.0/65)*abs(pitch)*180/pi