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fw att ctrl: transpose R

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This commit is contained in:
Thomas Gubler
2013-10-20 19:22:08 +02:00
parent b9ef3636f5
commit 273bc52acc
1 changed files with 3 additions and 3 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+3 -3
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@@ -664,9 +664,9 @@ FixedwingAttitudeControl::task_main()
float speed_body_u = 0.0f;
float speed_body_w = 0.0f;
if(_att.R_valid) {
speed_body_u = _att.R[0][0] * _global_pos.vx + _att.R[0][1] * _global_pos.vy + _att.R[0][2] * _global_pos.vz;
// speed_body_v = _att.R[1][0] * _global_pos.vx + _att.R[1][1] * _global_pos.vy + _att.R[1][2] * _global_pos.vz;
speed_body_w = _att.R[2][0] * _global_pos.vx + _att.R[2][1] * _global_pos.vy + _att.R[2][2] * _global_pos.vz;
speed_body_u = _att.R[0][0] * _global_pos.vx + _att.R[1][0] * _global_pos.vy + _att.R[2][0] * _global_pos.vz;
// speed_body_v = _att.R[0][1] * _global_pos.vx + _att.R[1][1] * _global_pos.vy + _att.R[2][1] * _global_pos.vz;
speed_body_w = _att.R[0][2] * _global_pos.vx + _att.R[1][2] * _global_pos.vy + _att.R[2][2] * _global_pos.vz;
} else {
warnx("Did not get a valid R\n");
}