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AP_NavEKF: initialise quaternion from rotation matrix

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Andrew Tridgell 2014-02-15 12:21:11 +11:00
parent 2df314799e
commit 24e1070eb2
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -327,7 +327,7 @@ void NavEKF::InitialiseFilterDynamic(void)
// Calculate initial filter quaternion states from AHRS solution // Calculate initial filter quaternion states from AHRS solution
Quaternion initQuat; Quaternion initQuat;
initQuat.from_euler(_ahrs->roll, _ahrs->pitch, _ahrs->yaw); initQuat.from_rotation_matrix(_ahrs->get_dcm_matrix());
// Calculate initial Tbn matrix and rotate Mag measurements into NED // Calculate initial Tbn matrix and rotate Mag measurements into NED
// to set initial NED magnetic field states // to set initial NED magnetic field states