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Extract general functions into utils

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kamilritz
2020-06-23 08:18:34 +02:00
committed by Mathieu Bresciani
parent fda30d8cec
commit ff8b5ec69d
13 changed files with 88 additions and 115 deletions
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EKF/drag_fusion.cpp
+1 -1
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@@ -83,7 +83,7 @@ void Ekf::fuseDrag()
rel_wind(0) = vn - vwn;
rel_wind(1) = ve - vwe;
rel_wind(2) = vd;
const Dcmf earth_to_body = quat_to_invrotmat(_state.quat_nominal);
const Dcmf earth_to_body = quatToInverseRotMat(_state.quat_nominal);
rel_wind = earth_to_body * rel_wind;
// perform sequential fusion of XY specific forces