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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/mag_fusion.cpp
+1 -1
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@@ -72,7 +72,7 @@ void Ekf::fuseMag()
SH_MAG[8] = 2.0f*magE*q3;
// rotate magnetometer earth field state into body frame
const Dcmf R_to_body = quat_to_invrotmat(_state.quat_nominal);
const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
const Vector3f mag_I_rot = R_to_body * _state.mag_I;