From ec8bc6c0208a5eb9ad3decf7bec196c5bf113dd4 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 1 Jan 2014 16:33:50 +0100 Subject: [PATCH] fw pos ctrl: remove a wrong transpose --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 455fe36742..bbb205b2f8 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -764,7 +764,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* filter speed and altitude for controller */ math::Vector3 accel_body(_sensor_combined.accelerometer_m_s2[0], _sensor_combined.accelerometer_m_s2[1], _sensor_combined.accelerometer_m_s2[2]); - math::Vector3 accel_earth = _R_nb.transpose() * accel_body; + math::Vector3 accel_earth = _R_nb * accel_body; _tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth); float altitude_error = _mission_item_triplet.current.altitude - _global_pos.alt;