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[rotorcraft] fix hidden bug in ref_quat_float

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thanks Antoine
This commit is contained in:
Felix Ruess
2014-02-05 22:22:33 +01:00
parent 4549e75091
commit 6dd439ee07
1 changed files with 1 additions and 1 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
+1 -1
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@@ -120,7 +120,7 @@ void stabilization_attitude_ref_update(void) {
FLOAT_QUAT_DIFFERENTIAL(delta_q, stab_att_ref_rate, DT_UPDATE);
/* compose new ref_quat by quaternion multiplication of delta rotation and current ref_quat */
struct FloatQuat new_ref_quat;
FLOAT_QUAT_COMP(new_ref_quat, delta_q, stab_att_ref_quat);
FLOAT_QUAT_COMP(new_ref_quat, stab_att_ref_quat, delta_q);
QUAT_COPY(stab_att_ref_quat, new_ref_quat);
#endif
FLOAT_QUAT_NORMALIZE(stab_att_ref_quat);