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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-01 16:33:50 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-01-01 16:33:50 +0100 |
| commit | ec8bc6c0208a5eb9ad3decf7bec196c5bf113dd4 (patch) | |
| tree | 8a4a26dd7f0f32afa403d7f79d2ab540a72ea149 /src/modules/fw_pos_control_l1 | |
| parent | 3000d08b0535db979fc221469ed39f86272837d3 (diff) | |
| download | px4-firmware-ec8bc6c0208a5eb9ad3decf7bec196c5bf113dd4.tar.gz px4-firmware-ec8bc6c0208a5eb9ad3decf7bec196c5bf113dd4.tar.bz2 px4-firmware-ec8bc6c0208a5eb9ad3decf7bec196c5bf113dd4.zip | |
fw pos ctrl: remove a wrong transpose
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 455fe3674..bbb205b2f 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -764,7 +764,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* filter speed and altitude for controller */ math::Vector3 accel_body(_sensor_combined.accelerometer_m_s2[0], _sensor_combined.accelerometer_m_s2[1], _sensor_combined.accelerometer_m_s2[2]); - math::Vector3 accel_earth = _R_nb.transpose() * accel_body; + math::Vector3 accel_earth = _R_nb * accel_body; _tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth); float altitude_error = _mission_item_triplet.current.altitude - _global_pos.alt; |