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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-20 19:22:08 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-24 18:09:10 +0200 |
| commit | 273bc52acc73cb43f31acf5869d0e536def0eec8 (patch) | |
| tree | 4897a57a77798ff0f18303ac1b2572da54365b45 /src/modules/fw_att_control/fw_att_control_main.cpp | |
| parent | b9ef3636f5210588d0aa219a163d3ef5edd6a204 (diff) | |
| download | px4-firmware-273bc52acc73cb43f31acf5869d0e536def0eec8.tar.gz px4-firmware-273bc52acc73cb43f31acf5869d0e536def0eec8.tar.bz2 px4-firmware-273bc52acc73cb43f31acf5869d0e536def0eec8.zip | |
fw att ctrl: transpose R
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 7f3e7893e..b59a97136 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -664,9 +664,9 @@ FixedwingAttitudeControl::task_main() float speed_body_u = 0.0f; float speed_body_w = 0.0f; if(_att.R_valid) { - speed_body_u = _att.R[0][0] * _global_pos.vx + _att.R[0][1] * _global_pos.vy + _att.R[0][2] * _global_pos.vz; -// speed_body_v = _att.R[1][0] * _global_pos.vx + _att.R[1][1] * _global_pos.vy + _att.R[1][2] * _global_pos.vz; - speed_body_w = _att.R[2][0] * _global_pos.vx + _att.R[2][1] * _global_pos.vy + _att.R[2][2] * _global_pos.vz; + speed_body_u = _att.R[0][0] * _global_pos.vx + _att.R[1][0] * _global_pos.vy + _att.R[2][0] * _global_pos.vz; +// speed_body_v = _att.R[0][1] * _global_pos.vx + _att.R[1][1] * _global_pos.vy + _att.R[2][1] * _global_pos.vz; + speed_body_w = _att.R[0][2] * _global_pos.vx + _att.R[1][2] * _global_pos.vy + _att.R[2][2] * _global_pos.vz; } else { warnx("Did not get a valid R\n"); } |