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EKF: Use matrix library for quaternion to rotation matrix conversion

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Paul Riseborough
2019-10-23 14:44:08 +03:00
committed by Roman Bapst
parent 1a4ab069c9
commit 36de2b3dc1
3 changed files with 12 additions and 12 deletions
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EKF/gps_yaw_fusion.cpp
+1 -1
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@@ -395,7 +395,7 @@ bool Ekf::resetGpsAntYaw()
_state_reset_status.quat_change = q_error;
// update transformation matrix from body to world frame using the current estimate
_R_to_earth = quat_to_invrotmat(_state.quat_nominal);
_R_to_earth = Dcmf(_state.quat_nominal);
// reset the rotation from the EV to EKF frame of reference if it is being used
if ((_params.fusion_mode & MASK_ROTATE_EV) && (_params.fusion_mode & MASK_USE_EVPOS)) {