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| author | ggregory8 <glenn.gregory8@gmail.com> | 2014-07-24 22:31:45 +0800 |
|---|---|---|
| committer | ggregory8 <glenn.gregory8@gmail.com> | 2014-07-24 22:31:45 +0800 |
| commit | 25ef4bc4a0557327af1f32d81c86e8981772a844 (patch) | |
| tree | 430550a85180ccefe38c7f5b720061f9e8f63be1 /src/modules/position_estimator_inav | |
| parent | 38d3efa985be394c846e6afe294006ab074335f7 (diff) | |
| download | px4-firmware-25ef4bc4a0557327af1f32d81c86e8981772a844.tar.gz px4-firmware-25ef4bc4a0557327af1f32d81c86e8981772a844.tar.bz2 px4-firmware-25ef4bc4a0557327af1f32d81c86e8981772a844.zip | |
Use current rotation matrix for vision instead of delayed rotation
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index d3192fec2..06a81e3fe 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -912,7 +912,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float c = 0.0f; for (int j = 0; j < 3; j++) { - c += R_gps[j][i] * accel_bias_corr[j]; + c += att.R[j][i] * accel_bias_corr[j]; } if (isfinite(c)) { |