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ekf: correct quaternion multiplication order

master
CarlOlsson 6 years ago committed by Paul Riseborough
parent
d6351bd7a5
commit
ad7f7af03b
1 changed files with 2 additions and 2 deletions
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  1. 4
      EKF/ekf_helper.cpp

4
EKF/ekf_helper.cpp
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@ -516,7 +516,7 @@ bool Ekf::realignYawGPS() @@ -516,7 +516,7 @@ bool Ekf::realignYawGPS()
// apply the change in attitude quaternion to our newest quaternion estimate
// which was already taken out from the output buffer
_output_new.quat_nominal = _state_reset_status.quat_change * _output_new.quat_nominal;
_output_new.quat_nominal = _output_new.quat_nominal * _state_reset_status.quat_change;
// capture the reset event
_state_reset_status.quat_counter++;
@ -756,7 +756,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init, bool increase_yaw_var, bool update @@ -756,7 +756,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init, bool increase_yaw_var, bool update
// apply the change in attitude quaternion to our newest quaternion estimate
// which was already taken out from the output buffer
_output_new.quat_nominal = _state_reset_status.quat_change * _output_new.quat_nominal;
_output_new.quat_nominal = _output_new.quat_nominal * _state_reset_status.quat_change;
}
// capture the reset event

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