VectorMath: Add scalar division to custom EKF vector math

2 files changed, 11 insertions, 0 deletions

diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
index e2f4c7e82..64a25aaba 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
@@ -198,3 +198,13 @@ void swap_var(float &d1, float &d2)
     d1 = d2;
     d2 = tmp;
 }
+
+// overload / operator to provide a vector scalar division
+Vector3f operator/(const Vector3f &vec, const float scalar)
+{
+    Vector3f vecOut;
+    vecOut.x = vec.x / scalar;
+    vecOut.y = vec.y / scalar;
+    vecOut.z = vec.z / scalar;
+    return vecOut;
+}
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.h b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
index 95b83ead4..b2d790e27 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_utilities.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
@@ -89,6 +89,7 @@ Vector3f operator*( Mat3f matIn, Vector3f vecIn);
 Mat3f operator*( Mat3f matIn1, Mat3f matIn2);
 Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
 Vector3f operator*(Vector3f vecIn1, float sclIn1);
+Vector3f operator/(const Vector3f &vec, const float scalar);
 
 void swap_var(float &d1, float &d2);