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AP_Math: Fix bug in quaternion division

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Paul Riseborough 2015-01-31 22:03:07 +11:00 committed by Andrew Tridgell
parent 1660aefc90
commit 255252f387
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Math/quaternion.cpp
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@ -284,8 +284,8 @@ Quaternion Quaternion::operator/(const Quaternion &v) {
float rquat3 = v.q4;
ret.q1 = (rquat0*quat0 + rquat1*quat1 + rquat2*quat2 + rquat3*quat3);
ret.q1 = (rquat0*quat1 - rquat1*quat0 - rquat2*quat3 + rquat3*quat2);
ret.q1 = (rquat0*quat2 + rquat1*quat3 - rquat2*quat0 - rquat3*quat1);
ret.q1 = (rquat0*quat3 - rquat1*quat2 + rquat2*quat1 - rquat3*quat0);
ret.q2 = (rquat0*quat1 - rquat1*quat0 - rquat2*quat3 + rquat3*quat2);
ret.q3 = (rquat0*quat2 + rquat1*quat3 - rquat2*quat0 - rquat3*quat1);
ret.q4 = (rquat0*quat3 - rquat1*quat2 + rquat2*quat1 - rquat3*quat0);
return ret;
}