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Small style cleanup

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kamilritz
2020-03-11 16:46:16 +01:00
committed by Mathieu Bresciani
parent 580118e366
commit 7e20d9df14
1 changed files with 2 additions and 3 deletions
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EKF/ekf_helper.cpp
+2 -3
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@@ -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;