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HAL_SITL: fixed simulation of roll/pitch of moving baseline ublox

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This commit is contained in:
Andrew Tridgell 2020-04-03 15:35:19 +11:00
parent 845755dd3d
commit e8fb082a9a
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_HAL_SITL/sitl_gps.cpp
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@ -407,7 +407,7 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d, uint8_t instance)
const Vector3f ant2_pos = _sitl->gps_pos_offset[instance].get();
Vector3f rel_antenna_pos = ant2_pos - ant1_pos;
Matrix3f rot;
rot.from_euler(0, 0, radians(d->yaw));
rot.from_euler(radians(_sitl->state.rollDeg), radians(_sitl->state.pitchDeg), radians(d->yaw));
rel_antenna_pos = rot * rel_antenna_pos;
relposned.version = 1;
relposned.iTOW = time_week_ms;