From 497008811a488a96a7fe1eb18090ff99279457e8 Mon Sep 17 00:00:00 2001
From: kamilritz <kritz@ethz.ch>
Date: Sun, 9 Aug 2020 10:48:20 +0200
Subject: [PATCH] Update matrix version

---
 CMakeLists.txt           | 2 +-
 EKF/imu_down_sampler.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 920ba61f43..cf9819855b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -134,7 +134,7 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
 	include(ExternalProject)
 	ExternalProject_Add(matrix
 			GIT_REPOSITORY "https://github.com/PX4/Matrix.git"
-			GIT_TAG f529358e9ac28b0809572c14a964ba7ba691adc4
+			GIT_TAG f981cea2aebfc9cfd930dce73ba6d4d6681e99c1
 			UPDATE_COMMAND ""
 			PATCH_COMMAND ""
 			CONFIGURE_COMMAND ""
diff --git a/EKF/imu_down_sampler.cpp b/EKF/imu_down_sampler.cpp
index 7d9c4965ac..265671e3b4 100644
--- a/EKF/imu_down_sampler.cpp
+++ b/EKF/imu_down_sampler.cpp
@@ -41,7 +41,7 @@ bool ImuDownSampler::update(const imuSample &imu_sample_new)
 		_imu_collection_time_adj = math::constrain(_imu_collection_time_adj, -0.5f * _target_dt,
 							   0.5f * _target_dt);
 
-		_imu_down_sampled.delta_ang = _delta_angle_accumulated.to_axis_angle();
+		_imu_down_sampled.delta_ang = AxisAnglef(_delta_angle_accumulated);
 
 		return true;