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Mavlink receiver ODOMETRY fix code style

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Daniel Agar
2019-08-02 21:36:20 -04:00
parent b203bc15df
commit dcccbbe584
1 changed files with 1 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -1160,7 +1160,7 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
} }
if (odom.child_frame_id == MAV_FRAME_BODY_FRD) { /* WRT to estimated vehicle body-fixed frame */ if (odom.child_frame_id == MAV_FRAME_BODY_FRD) { /* WRT to estimated vehicle body-fixed frame */
/* Get quaternion from the msg quaternion itself and build DCM matrix from it /* Get quaternion from the msg quaternion itself and build DCM matrix from it
* Note that the msg quaternion represents the rotation of the msg frame to the msg child frame * Note that the msg quaternion represents the rotation of the msg frame to the msg child frame
* but rotates msg child frame *data* into the msg frame */ * but rotates msg child frame *data* into the msg frame */
const matrix::Dcmf Rbl = matrix::Dcmf(matrix::Quatf(odometry.q)); const matrix::Dcmf Rbl = matrix::Dcmf(matrix::Quatf(odometry.q));