From cb1528008f66a9239b944b344fa29524f8b89409 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Martin=20K=2E=20Schr=C3=B6der?= <mkschreder.uk@gmail.com>
Date: Sun, 3 Jul 2016 12:29:58 +0200
Subject: [PATCH] Update Matrix.hpp (#4966)

This was horribly wrong. Matrix is first cast into a matrix of size NxM (which is supposed to be the size of the result - NOT the starting point) so the transpose result becomes garbage. Instead make "Me" an MxN matrix as the original. Took me a whole evening to figure out this problem. Now my Kalman filter finally returns good results.
---
 src/lib/mathlib/math/Matrix.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/lib/mathlib/math/Matrix.hpp b/src/lib/mathlib/math/Matrix.hpp
index 0941f4b7b5..ce27ccfcc3 100644
--- a/src/lib/mathlib/math/Matrix.hpp
+++ b/src/lib/mathlib/math/Matrix.hpp
@@ -305,7 +305,7 @@ public:
 	 * transpose the matrix
 	 */
 	Matrix<N, M> transposed(void) const {
-		matrix::Matrix<float, N, M> Me(this->arm_mat.pData);
+		matrix::Matrix<float, M, N> Me(this->arm_mat.pData);
 		Matrix<N, M> res(Me.transpose().data());
 		return res;
 	}