mirror of https://github.com/ArduPilot/ardupilot
AP_Gimbal: report gimbal angles using a 312 rotation vector
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@ -180,7 +180,7 @@ void AP_Gimbal::update_target(Vector3f newTarget)
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Vector3f AP_Gimbal::getGimbalEstimateEF()
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Vector3f AP_Gimbal::getGimbalEstimateEF()
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{
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{
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Quaternion quatEst;_ekf.getQuat(quatEst);Vector3f eulerEst;quatEst.to_euler(eulerEst.x, eulerEst.y, eulerEst.z);
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Quaternion quatEst;_ekf.getQuat(quatEst);Vector3f eulerEst;quatEst.to_vector312(eulerEst.x, eulerEst.y, eulerEst.z);
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return eulerEst;
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return eulerEst;
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}
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}
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