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terrain_estimator construct Vector3f safely

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Daniel Agar 2018-08-27 15:43:45 -04:00
parent acff200f0d
commit df96cd2873
1 changed files with 1 additions and 1 deletions
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src/lib/terrain_estimation/terrain_estimator.cpp
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@ -62,7 +62,7 @@ void TerrainEstimator::predict(float dt, const struct vehicle_attitude_s *attitu
const struct distance_sensor_s *distance)
{
matrix::Dcmf R_att = matrix::Quatf(attitude->q);
matrix::Vector<float, 3> a(&sensor->accelerometer_m_s2[0]);
matrix::Vector3f a{sensor->accelerometer_m_s2[0], sensor->accelerometer_m_s2[1], sensor->accelerometer_m_s2[2]};
matrix::Vector<float, 3> u;
u = R_att * a;
_u_z = u(2) + CONSTANTS_ONE_G; // compensate for gravity