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EKF: fix the rotation direction of the buffered attitude solutions

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in alignOutputFilter()

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
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CarlOlsson
2019-03-12 19:07:55 +11:00
committed by Paul Riseborough
parent 56b6b7a778
commit 78122b20a6
1 changed files with 1 additions and 1 deletions
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EKF/ekf_helper.cpp
+1 -1
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@@ -379,7 +379,7 @@ void Ekf::resetHeight()
void Ekf::alignOutputFilter()
{
// calculate the quaternion delta between the output and EKF quaternions at the EKF fusion time horizon
Quatf q_delta = _state.quat_nominal.inversed() * _output_sample_delayed.quat_nominal;
Quatf q_delta = _state.quat_nominal * _output_sample_delayed.quat_nominal.inversed();
q_delta.normalize();
// calculate the velocity and posiiton deltas between the output and EKF at the EKF fusion time horizon