From 7cb06c01eb9ef363feba3345bd1495202dd47eae Mon Sep 17 00:00:00 2001 From: Roman Date: Tue, 27 Sep 2016 22:50:33 +0200 Subject: [PATCH] attitude_estimator_ekf: fixed quaternion computation from dcm Signed-off-by: Roman --- .../attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 361d8a2da7..0e2be97ee4 100755 --- a/src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/examples/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -614,7 +614,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) matrix::Dcmf Ro(&Rot_matrix[0]); matrix::Dcmf R_declination(&R_decl.data[0][0]); Ro = R_declination * Ro; - matrix::Quatf q = R_declination * Ro; + matrix::Quatf q = matrix::Quatf(R_declination * Ro); memcpy(&att.q[0],&q._data[0],sizeof(att.q));