diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 8193cf181..e2274342e 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1648,10 +1648,10 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_VISN.vx = buf.vision_pos.vx; log_msg.body.log_VISN.vy = buf.vision_pos.vy; log_msg.body.log_VISN.vz = buf.vision_pos.vz; - log_msg.body.log_VISN.qx = buf.vision_pos.q[0]; - log_msg.body.log_VISN.qy = buf.vision_pos.q[1]; - log_msg.body.log_VISN.qz = buf.vision_pos.q[2]; - log_msg.body.log_VISN.qw = buf.vision_pos.q[3]; + log_msg.body.log_VISN.qw = buf.vision_pos.q[0]; // vision_position_estimate uses [w,x,y,z] convention + log_msg.body.log_VISN.qx = buf.vision_pos.q[1]; + log_msg.body.log_VISN.qy = buf.vision_pos.q[2]; + log_msg.body.log_VISN.qz = buf.vision_pos.q[3]; LOGBUFFER_WRITE_AND_COUNT(VISN); } |