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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-12-26 17:36:10 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-12-26 17:36:10 +0100 |
| commit | ed493918f70560067e213847b5546166398d494e (patch) | |
| tree | 03be74f61b1b62af30a802027abc473d8aeb40ab /src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | |
| parent | 407889ea2c472ed5be950307bb5dc27f07f88006 (diff) | |
| download | px4-firmware-ed493918f70560067e213847b5546166398d494e.tar.gz px4-firmware-ed493918f70560067e213847b5546166398d494e.tar.bz2 px4-firmware-ed493918f70560067e213847b5546166398d494e.zip | |
Attitude estimator EKF: fix warnings
Diffstat (limited to 'src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 4 |
1 files changed, 2 insertions, 2 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 1942fdc62..702894d60 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -462,11 +462,11 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000)) { math::Quaternion q(vision.q); - math::Matrix<3, 3> R = q.to_dcm(); + math::Matrix<3, 3> Rvis = q.to_dcm(); math::Vector<3> v(1.0f, 0.0f, 0.4f); - math::Vector<3> vn = R * v; + math::Vector<3> vn = Rvis * v; z_k[6] = vn(0); z_k[7] = vn(1); |