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| author | Andrea Nistico <andrea.nistic@gmail.com> | 2015-04-24 17:03:05 +0200 |
|---|---|---|
| committer | Andrea Nistico <andrea.nistic@gmail.com> | 2015-04-24 17:03:05 +0200 |
| commit | e621b2eb1847aa66c857a16c2046421512fffcc2 (patch) | |
| tree | beafddec08bdfb603c12335769cab411d69eced9 | |
| parent | 3527a2fe89857d6c0242e058f50d95baaadc57c1 (diff) | |
| download | px4-firmware-e621b2eb1847aa66c857a16c2046421512fffcc2.tar.gz px4-firmware-e621b2eb1847aa66c857a16c2046421512fffcc2.tar.bz2 px4-firmware-e621b2eb1847aa66c857a16c2046421512fffcc2.zip | |
code style fix
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 68780d5dd..3faf63a27 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -466,7 +466,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) math::Vector<3> v(1.0f, 0.0f, 0.4f); math::Vector<3> vn = Rvis.transposed() * v; //Rvis is Rwr (robot respect to world) while v is respect to world. Hence Rvis must be transposed having (Rwr)' * Vw - // Rrw * Vw = vn. This way we have consistency + // Rrw * Vw = vn. This way we have consistency z_k[6] = vn(0); z_k[7] = vn(1); z_k[8] = vn(2); |