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Merge remote-tracking branch 'upstream/master' into linux

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Conflicts:
	src/drivers/rgbled/rgbled.cpp
	src/modules/commander/PreflightCheck.cpp
	src/modules/commander/airspeed_calibration.cpp
	src/modules/commander/calibration_routines.cpp
	src/modules/commander/gyro_calibration.cpp
	src/modules/commander/mag_calibration.cpp
	src/modules/mc_att_control/mc_att_control_main.cpp
This commit is contained in:
Mark Charlebois
2015-04-28 11:48:26 -07:00
parent c832f4c55c 2a46e0f0b6
commit 190814bc97
47 changed files with 935 additions and 656 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+2 -2
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@@ -465,8 +465,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
math::Vector<3> v(1.0f, 0.0f, 0.4f);
math::Vector<3> vn = Rvis * v;
math::Vector<3> vn = Rvis.transposed() * v; //Rvis is Rwr (robot respect to world) while v is respect to world. Hence Rvis must be transposed having (Rwr)' * Vw
// Rrw * Vw = vn. This way we have consistency
z_k[6] = vn(0);
z_k[7] = vn(1);
z_k[8] = vn(2);