From bb88d4ce5e72cd5a24d8fdf2959fa85d73a76bfe Mon Sep 17 00:00:00 2001 From: kritz Date: Wed, 18 Sep 2019 07:21:03 +0200 Subject: [PATCH] Undo wrong comment change --- EKF/mag_fusion.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp index c204c538bc..89e1eb8323 100644 --- a/EKF/mag_fusion.cpp +++ b/EKF/mag_fusion.cpp @@ -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 body to earth frame + /* Calculate the 312 sequence euler angles that rotate from earth to body 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: *