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Attitude estimator Q: Also fill Quaternion field

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Lorenz Meier
2015-12-24 13:30:30 +01:00
parent 623aeac18d
commit 490ef96471
1 changed files with 2 additions and 0 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+2
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@@ -590,6 +590,8 @@ void AttitudeEstimatorQ::task_main()
/* copy rotation matrix */
memcpy(&att.R[0], R.data, sizeof(att.R));
att.R_valid = true;
memcpy(&att.q[0], _q.data, sizeof(att.q));
att.q_valid = true;
att.rate_vibration = _voter_gyro.get_vibration_factor(hrt_absolute_time());
att.accel_vibration = _voter_accel.get_vibration_factor(hrt_absolute_time());