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author | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-03 08:54:49 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-03 08:54:49 +0200 |
commit | 368a21ddab652ede39ffee3bd0a4f8e770fd0c8d (patch) | |
tree | c9677543b80cc7fa0bdac51f6a19dbab774f2d84 /src/modules/ekf_att_pos_estimator/estimator_utilities.cpp | |
parent | 7f9138f400dc9efcb86fbbd44907fcda5681b1fb (diff) | |
download | px4-firmware-368a21ddab652ede39ffee3bd0a4f8e770fd0c8d.tar.gz px4-firmware-368a21ddab652ede39ffee3bd0a4f8e770fd0c8d.tar.bz2 px4-firmware-368a21ddab652ede39ffee3bd0a4f8e770fd0c8d.zip |
Fix typo in vector matrix product, fixes #1969, reported by @cat888ekf_fix
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_utilities.cpp')
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_utilities.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp index 470eb4e2c..83a738463 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp @@ -140,7 +140,7 @@ Vector3f operator*(const Mat3f &matIn, const Vector3f &vecIn) Vector3f vecOut; vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z; vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z; - vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z; + vecOut.z = matIn.z.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z; return vecOut; } |