From 7303edc9c522501978b6ca9f179f6d3aa6ced94e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 13 Sep 2022 08:40:39 +1000 Subject: [PATCH] SITL: fixed tailsitter airspeed in RF9 --- libraries/SITL/SIM_FlightAxis.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/SITL/SIM_FlightAxis.cpp b/libraries/SITL/SIM_FlightAxis.cpp index b39306b241..811cecb2b5 100644 --- a/libraries/SITL/SIM_FlightAxis.cpp +++ b/libraries/SITL/SIM_FlightAxis.cpp @@ -494,7 +494,7 @@ void FlightAxis::update(const struct sitl_input &input) Vector3f airspeed3d = dcm.mul_transpose(airspeed_3d_ef); if (last_imu_rotation != ROTATION_NONE) { - airspeed3d = sitl->ahrs_rotation_inv * airspeed3d; + airspeed3d = sitl->ahrs_rotation * airspeed3d; } airspeed_pitot = MAX(airspeed3d.x,0);