From 17a4b64434518a495cf632315fbe34e670a4690c Mon Sep 17 00:00:00 2001 From: Roman Date: Sun, 9 Oct 2016 20:03:30 +0200 Subject: [PATCH] old ekf: fix computation of rotation matrix Signed-off-by: Roman --- .../attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 0e2be97ee4..3b2b026b44 100755 --- a/src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -613,7 +613,6 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) /* magnetic declination */ matrix::Dcmf Ro(&Rot_matrix[0]); matrix::Dcmf R_declination(&R_decl.data[0][0]); - Ro = R_declination * Ro; matrix::Quatf q = matrix::Quatf(R_declination * Ro); memcpy(&att.q[0],&q._data[0],sizeof(att.q));