SITL: fixed the normalisation of the DCM matrix in the multicopter sim

2012-07-04 15:59:15 +10:00 · 2012-07-04 15:59:15 +10:00 · b3c9cdb353
parent 6cf2e2fa13
commit b3c9cdb353
1 changed files with 1 additions and 0 deletions
--- a/Tools/autotest/pysim/multicopter.py
+++ b/Tools/autotest/pysim/multicopter.py
@ -132,6 +132,7 @@ class MultiCopter(Aircraft):

        # update attitude
        self.dcm.rotate(self.gyro * delta_time)
+        self.dcm.normalize()

        # air resistance
        air_resistance = - self.velocity * (self.gravity/self.terminal_velocity)