From 368a21ddab652ede39ffee3bd0a4f8e770fd0c8d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 3 Apr 2015 08:54:49 +0200 Subject: Fix typo in vector matrix product, fixes #1969, reported by @cat888 --- src/modules/ekf_att_pos_estimator/estimator_utilities.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/ekf_att_pos_estimator') diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp index 470eb4e2c..83a738463 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp @@ -140,7 +140,7 @@ Vector3f operator*(const Mat3f &matIn, const Vector3f &vecIn) Vector3f vecOut; vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z; vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z; - vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z; + vecOut.z = matIn.z.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z; return vecOut; } -- cgit v1.2.3