EKF: Clarify use of *= operator for quaternions

2026-06-29 14:20:35 +08:00 · 2017-11-16 11:52:19 +11:00
parent ed9a394029
commit 7c8fcf7628
2 changed files with 4 additions and 0 deletions
@@ -199,6 +199,7 @@ void Ekf::controlExternalVisionFusion()
 				_state_reset_status.quat_change = quat_before_reset.inversed() * _state.quat_nominal;

 				// add the reset amount to the output observer buffered data
+				// Note q1 *= q2 is equivalent to q1 = q2 * q1
 				for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
 					_output_buffer[i].quat_nominal *= _state_reset_status.quat_change;
 				}