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Fixing wrong label of quaternion direction

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kamilritz
2019-09-24 08:50:29 +10:00
committed by Paul Riseborough
parent fe3fec413c
commit 8c061fb6a4
2 changed files with 2 additions and 2 deletions
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EKF/common.h
+1 -1
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@@ -361,7 +361,7 @@ struct parameters {
};
struct stateSample {
Quatf quat_nominal; ///< quaternion defining the rotation from earth to body frame
Quatf quat_nominal; ///< quaternion defining the rotation from body to earth frame
Vector3f vel; ///< NED velocity in earth frame in m/s
Vector3f pos; ///< NED position in earth frame in m
Vector3f gyro_bias; ///< delta angle bias estimate in rad
EKF/mag_fusion.cpp
+1 -1
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@@ -537,7 +537,7 @@ void Ekf::fuseHeading()
H_YAW[2] = t8*t14*(-q1*t3+q1*t4+q1*t5+q1*t6-q0*q2*q3*2.0f)*2.0f;
H_YAW[3] = t8*t14*(q0*t3-q0*t4+q0*t5+q0*t6-q1*q2*q3*2.0f)*2.0f;
/* Calculate the 312 sequence euler angles that rotate from earth to body frame
/* Calculate the 312 sequence euler angles that rotate from body to earth frame
* Derived from https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw312.m
* Body to nav frame transformation using a yaw-roll-pitch rotation sequence is given by:
*