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Quaternion: rename function to rotate vectors

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This commit is contained in:
Matthias Grob
2022-03-07 20:03:54 -05:00
committed by Daniel Agar
parent 5affa693f2
commit 68a0414622
7 changed files with 27 additions and 27 deletions
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src/modules/commander/accelerometer_calibration.cpp
+1 -1
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@@ -561,7 +561,7 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
// use vehicle_attitude if available
const vehicle_attitude_s &att = attitude_sub.get();
const matrix::Quatf q{att.q};
const Vector3f accel_ref = q.conjugate_inversed(Vector3f{0.f, 0.f, -CONSTANTS_ONE_G});
const Vector3f accel_ref = q.rotateVectorInverse(Vector3f{0.f, 0.f, -CONSTANTS_ONE_G});
// sanity check angle between acceleration vectors
const float angle = AxisAnglef(Quatf(accel_avg, accel_ref)).angle();