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Merge pull request #1 from andrea-nisti/optitrack_integration 

Order fixed for vision position quaternion
sbg
andrea-nisti 10 years ago
parent
3f961bf3c6 c5ce8f39ae
commit
72f9a3d8b0
1 changed files with 4 additions and 4 deletions
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  1. 8
      src/modules/sdlog2/sdlog2.c

8
src/modules/sdlog2/sdlog2.c
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@ -1648,10 +1648,10 @@ int sdlog2_thread_main(int argc, char *argv[]) @@ -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);
}

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