diff options
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 4 | ||||
| -rw-r--r-- | src/modules/attitude_estimator_ekf/module.mk | 2 |
2 files changed, 3 insertions, 3 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); diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk index 3a3e1cc69..1158536e1 100644 --- a/src/modules/attitude_estimator_ekf/module.mk +++ b/src/modules/attitude_estimator_ekf/module.mk @@ -45,4 +45,4 @@ MODULE_STACKSIZE = 1200 EXTRACFLAGS = -Wno-float-equal -Wframe-larger-than=3600 -EXTRACXXFLAGS = -Wframe-larger-than=2200 +EXTRACXXFLAGS = -Wframe-larger-than=2400 |