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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/optflow_fusion.cpp
+1 -1
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@@ -67,7 +67,7 @@ void Ekf::fuseOptFlow()
float Kfusion[24][2] = {}; // Optical flow Kalman gains
// get rotation matrix from earth to body
const Dcmf earth_to_body = quat_to_invrotmat(_state.quat_nominal);
const Dcmf earth_to_body = quatToInverseRotMat(_state.quat_nominal);
// calculate the sensor position relative to the IMU
const Vector3f pos_offset_body = _params.flow_pos_body - _params.imu_pos_body;