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fixed LTP to BODY quaternion

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This commit is contained in:
Antoine Drouin
2009-08-05 02:06:31 +00:00
parent 7c9db88da6
commit 19e8f50dd2
1 changed files with 1 additions and 1 deletions
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sw/airborne/booz/ahrs/booz2_filter_attitude_cmpl_euler.c
+1 -1
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@@ -188,7 +188,7 @@ void booz_ahrs_propagate(void) {
INT32_RMAT_OF_EULERS(booz_ahrs.ltp_to_imu_rmat, booz_ahrs.ltp_to_imu_euler);
/* Compute LTP to BODY quaternion */
INT32_QUAT_COMP_INV(booz_ahrs.ltp_to_body_quat, booz_imu.body_to_imu_quat, booz_ahrs.ltp_to_imu_quat);
INT32_QUAT_COMP_INV(booz_ahrs.ltp_to_body_quat, booz_ahrs.ltp_to_imu_quat, booz_imu.body_to_imu_quat);
/* Compute LTP to BODY rotation matrix */
INT32_RMAT_COMP_INV(booz_ahrs.ltp_to_body_rmat, booz_ahrs.ltp_to_imu_rmat, booz_imu.body_to_imu_rmat);
/* compute LTP to BODY eulers */