From ec1609350f6182e33d53c8503026f075b72af271 Mon Sep 17 00:00:00 2001 From: Mark Whitehorn Date: Fri, 23 Sep 2016 10:16:18 -0600 Subject: [PATCH] fix jMAVSim body-fixed XYZ Euler Angles --- src/modules/simulator/simulator_mavlink.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp index 6648f78694..14546932aa 100644 --- a/src/modules/simulator/simulator_mavlink.cpp +++ b/src/modules/simulator/simulator_mavlink.cpp @@ -325,8 +325,8 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish) hil_attitude.q[3] = q(3); hil_attitude.q_valid = true; - hil_attitude.roll = euler(1); - hil_attitude.pitch = euler(0); + hil_attitude.roll = euler(0); + hil_attitude.pitch = euler(1); hil_attitude.yaw = euler(2); // always publish ground truth attitude message