From 21b909f670bdce821d9e4a75d0b44b89a1ec50da Mon Sep 17 00:00:00 2001 From: Arthur Benemann Date: Wed, 8 Apr 2015 16:02:13 -0700 Subject: [PATCH] AP_Gimbal: report gimbal angles using a 312 rotation vector --- libraries/AP_Mount/AP_Gimbal.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Mount/AP_Gimbal.cpp b/libraries/AP_Mount/AP_Gimbal.cpp index 3a4ed82079..3ea6758c71 100644 --- a/libraries/AP_Mount/AP_Gimbal.cpp +++ b/libraries/AP_Mount/AP_Gimbal.cpp @@ -180,7 +180,7 @@ void AP_Gimbal::update_target(Vector3f newTarget) Vector3f AP_Gimbal::getGimbalEstimateEF() { - Quaternion quatEst;_ekf.getQuat(quatEst);Vector3f eulerEst;quatEst.to_euler(eulerEst.x, eulerEst.y, eulerEst.z); + Quaternion quatEst;_ekf.getQuat(quatEst);Vector3f eulerEst;quatEst.to_vector312(eulerEst.x, eulerEst.y, eulerEst.z); return eulerEst; }