fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

Small style cleanup

Browse Source
This commit is contained in:
kamilritz 2020-03-10 20:53:36 +01:00 committed by Mathieu Bresciani
parent 580118e366
commit 7e20d9df14
1 changed files with 2 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
EKF/ekf_helper.cpp
View File

@ -1722,9 +1722,8 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance, bool update_buffer)
}
// calculate the amount that the quaternion has changed by
const Quatf quat_after_reset = _R_to_earth;
Quatf q_error = quat_after_reset * quat_before_reset.inversed();
q_error.normalize();
const Quatf quat_after_reset(_R_to_earth);
const Quatf q_error((quat_after_reset * quat_before_reset.inversed()).normalized());
// update quaternion states
_state.quat_nominal = quat_after_reset;