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Fix get frame aligning quaternion function

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kamilritz
2019-08-29 08:34:10 +10:00
committed by Paul Riseborough
parent 53eac6e94e
commit a2ff415fe4
3 changed files with 7 additions and 7 deletions
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EKF/ekf_helper.cpp
+5 -5
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@@ -1653,14 +1653,14 @@ void Ekf::resetExtVisRotMat()
_ev_rot_mat = Dcmf(q_error); // rotation from EV reference to EKF reference
}
// return the quaternions for the rotation from the EKF to the External Vision system frame of reference
void Ekf::get_ekf2ev_quaternion(float *quat)
// return the quaternions for the rotation from External Vision system reference frame to the EKF reference frame
void Ekf::get_ev2ekf_quaternion(float *quat)
{
Quatf quat_ekf2ev;
quat_ekf2ev.from_axis_angle(_ev_rot_vec_filt);
Quatf quat_ev2ekf;
quat_ev2ekf.from_axis_angle(_ev_rot_vec_filt);
for (unsigned i = 0; i < 4; i++) {
quat[i] = quat_ekf2ev(i);
quat[i] = quat_ev2ekf(i);
}
}