Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-02 03:49:12 +08:00
Code Issues Actions 6 Packages Projects Releases Wiki Activity

attitude_estimator_ekf: fixed quaternion computation from dcm

Browse Source 
Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-09-27 22:50:33 +02:00
committed by Lorenz Meier
parent 51941b0af8
commit 7cb06c01eb
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+1 -1
View File
@@ -614,7 +614,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
matrix::Dcmf Ro(&Rot_matrix[0]); matrix::Dcmf Ro(&Rot_matrix[0]);
matrix::Dcmf R_declination(&R_decl.data[0][0]); matrix::Dcmf R_declination(&R_decl.data[0][0]);
Ro = R_declination * Ro; Ro = R_declination * Ro;
matrix::Quatf q = R_declination * Ro; matrix::Quatf q = matrix::Quatf(R_declination * Ro);
memcpy(&att.q[0],&q._data[0],sizeof(att.q)); memcpy(&att.q[0],&q._data[0],sizeof(att.q));