From 6901402853e213f75530b7a46505da2b1c5e8d1d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 13 Jul 2013 20:44:17 +0200 Subject: [PATCH] Fixed signs --- src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp index 32545e0e02..0f1a355d76 100644 --- a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp +++ b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp @@ -78,7 +78,7 @@ void ECL_FWAttControlVector::control(float dt, float airspeed, float airspeed_sc } math::Dcm R_bn(R_nb.transpose()); - math::Matrix R_yaw_bn = math::Dcm(math::EulerAngles(0.0f, 0.0f, -yaw)); + math::Matrix R_yaw_bn = math::Dcm(math::EulerAngles(0.0f, 0.0f, yaw)).transpose(); // Establish actuator signs and lift compensation float lift_sign = (R_bn(3, 3) >= 0) ? 1.0f : -1.0f;