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ekf2: use correct AlphaFilter for 3D rotations

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bresch
2023-07-12 16:24:20 +02:00
committed by Mathieu Bresciani
parent 15bb8c0f2e
commit 1128ada90a
2 changed files with 2 additions and 2 deletions
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src/modules/ekf2/EKF/ev_control.cpp
+1 -1
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@@ -88,7 +88,7 @@ void Ekf::controlExternalVisionFusion()
void Ekf::updateEvAttitudeErrorFilter(extVisionSample &ev_sample, bool ev_reset)
{
const AxisAnglef q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
if (!q_error.isAllFinite()) {
return;