ekf2: utils add getEulerYaw() that uses the best rotation sequence

2026-10-22 23:43:34 +08:00 · 2022-02-02 08:54:03 -05:00
parent c3e0b93fc8
commit 88ffc177f7
9 changed files with 24 additions and 44 deletions
@@ -261,7 +261,6 @@ void Ekf::predictState()

 	// rotate the previous quaternion by the delta quaternion using a quaternion multiplication
 	_state.quat_nominal = (_state.quat_nominal * dq).normalized();
-
 	_R_to_earth = Dcmf(_state.quat_nominal);

 	// Calculate an earth frame delta velocity