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WeatherVane: calculate rotation matrix directly when updating

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-09-19 08:27:07 +02:00
committed by Lorenz Meier
parent d6b6a1d0b3
commit ce7272a39c
3 changed files with 5 additions and 7 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
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@@ -741,7 +741,7 @@ MulticopterPositionControl::task_main()
_att_sp.disable_mc_yaw_control = false;
_att_sp.apply_flaps = false;
_wv_controller.update(matrix::Quatf(&_att_sp.q_d[0]), _local_pos.yaw);
_wv_controller.update(matrix::Quatf(_att_sp.q_d), _local_pos.yaw);
if (!constraints.landing_gear) {
if (constraints.landing_gear == vehicle_constraints_s::GEAR_UP) {