From 7e20d9df1440a52cf946dd88f95258cc57b6287c Mon Sep 17 00:00:00 2001 From: kamilritz Date: Tue, 10 Mar 2020 20:53:36 +0100 Subject: [PATCH] Small style cleanup --- EKF/ekf_helper.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp index 441588be3e..297cb5aa6a 100644 --- a/EKF/ekf_helper.cpp +++ b/EKF/ekf_helper.cpp @@ -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;