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attitude_estimator_ekf: fixed quaternion computation from dcm

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2016-09-27 22:50:33 +02:00 committed by Lorenz Meier
parent 51941b0af8
commit 7cb06c01eb
1 changed files with 1 additions and 1 deletions
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2
src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
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@ -614,7 +614,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
matrix::Dcmf Ro(&Rot_matrix[0]);
matrix::Dcmf R_declination(&R_decl.data[0][0]);
Ro = R_declination * Ro;
matrix::Quatf q = R_declination * Ro;
matrix::Quatf q = matrix::Quatf(R_declination * Ro);
memcpy(&att.q[0],&q._data[0],sizeof(att.q));