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AP_NavEKF3: Fix bug in use of external 321 yaw to align

master
priseborough 7 years ago committed by Andrew Tridgell
parent
122f214416
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209a32b8b9
1 changed files with 5 additions and 5 deletions
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  1. 2
      libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp

2
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -218,7 +218,7 @@ void NavEKF3_core::alignYawAngle()
if (yawAngDataDelayed.type == 2) { if (yawAngDataDelayed.type == 2) {
Vector3f euler321; Vector3f euler321;
stateStruct.quat.to_euler(euler321.x, euler321.y, euler321.z); stateStruct.quat.to_euler(euler321.x, euler321.y, euler321.z);
stateStruct.quat.to_euler(euler321.x, euler321.y, yawAngDataDelayed.yawAng); stateStruct.quat.from_euler(euler321.x, euler321.y, yawAngDataDelayed.yawAng);
} else if (yawAngDataDelayed.type == 1) { } else if (yawAngDataDelayed.type == 1) {
Vector3f euler312 = stateStruct.quat.to_vector312(); Vector3f euler312 = stateStruct.quat.to_vector312();
stateStruct.quat.from_vector312(euler312.x, euler312.y, yawAngDataDelayed.yawAng); stateStruct.quat.from_vector312(euler312.x, euler312.y, yawAngDataDelayed.yawAng);

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