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Remove Dcmf

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JaeyoungLim
2025-11-24 15:37:45 -08:00
parent cc106e27d7
commit f01e6b8dd3
1 changed files with 1 additions and 2 deletions
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src/modules/fw_wind_estimator/FixedwingWindEstimator.cpp
+1 -2
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@@ -206,8 +206,7 @@ void FixedwingWindEstimator::Run()
if (_calibrated_airspeed > _stall_airspeed) { if (_calibrated_airspeed > _stall_airspeed) {
matrix::Vector3f air_velocity_body = compute_wind_estimate(); matrix::Vector3f air_velocity_body = compute_wind_estimate();
Dcmf R_ib(_attitude); matrix::Vector3f air_velocity_local = _attitude.rotateVector(air_velocity_body);
matrix::Vector3f air_velocity_local = R_ib * air_velocity_body;
// compute wind from wind triangle // compute wind from wind triangle
matrix::Vector3f wind = _local_velocity - air_velocity_local; matrix::Vector3f wind = _local_velocity - air_velocity_local;