From b2c5919d2946c0e2bd7de57f91ef0324fe3bd96b Mon Sep 17 00:00:00 2001 From: wangwwno1 Date: Thu, 11 Nov 2021 17:31:41 +0800 Subject: [PATCH] Update src/modules/simulator/simulator_mavlink.cpp Co-authored-by: JaeyoungLim --- src/modules/simulator/simulator_mavlink.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 8ff38842dd..2fd76a2781 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -565,6 +565,8 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg hil_lpos.vy = hil_state.vy / 100.0f; hil_lpos.vz = hil_state.vz / 100.0f; matrix::Eulerf euler = matrix::Quatf(hil_attitude.q); + matrix::Vector3f acc(hil_state.xacc / 1000.f, hil_state.yacc / 1000.f, hil_state.zacc / 1000.f); + acc = matrix::Quatf(hil_state.attitude_quaternion).conjugate(acc); hil_lpos.ax = acc(0); hil_lpos.ay = acc(1); hil_lpos.az = acc(2);