compute quaternion

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -590,9 +590,11 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 
 					math::Matrix<3, 3> R_body = (&Rot_matrix[0]);
 					R = R_decl * R_body;
-
+					math::Quaternion q;
+					q.from_dcm(R);
 					/* copy rotation matrix */
 					memcpy(&att.R[0], &R.data[0][0], sizeof(att.R));
+					memcpy(&att.q[0],&q.data[0],sizeof(att.q));
 					att.R_valid = true;
 
 					if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) {