From f01e6b8dd352acc22a35ac798e19baca87fbe0af Mon Sep 17 00:00:00 2001
From: JaeyoungLim <jalim@ethz.ch>
Date: Mon, 24 Nov 2025 15:37:45 -0800
Subject: [PATCH] Remove Dcmf

---
 src/modules/fw_wind_estimator/FixedwingWindEstimator.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/modules/fw_wind_estimator/FixedwingWindEstimator.cpp b/src/modules/fw_wind_estimator/FixedwingWindEstimator.cpp
index 60700a157b..72bcde7140 100644
--- a/src/modules/fw_wind_estimator/FixedwingWindEstimator.cpp
+++ b/src/modules/fw_wind_estimator/FixedwingWindEstimator.cpp
@@ -206,8 +206,7 @@ void FixedwingWindEstimator::Run()
 		if (_calibrated_airspeed > _stall_airspeed) {
 			matrix::Vector3f air_velocity_body = compute_wind_estimate();
 
-			Dcmf R_ib(_attitude);
-			matrix::Vector3f air_velocity_local = R_ib * air_velocity_body;
+			matrix::Vector3f air_velocity_local = _attitude.rotateVector(air_velocity_body);
 
 			// compute wind from wind triangle
 			matrix::Vector3f wind = _local_velocity - air_velocity_local;