From 794593787457b00fb51e2b21391d3064c458b51b Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 13 Dec 2010 04:01:26 +0000
Subject: [PATCH] added ability to get the transpose of the DCM

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1116 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/AP_DCM/AP_DCM.cpp | 9 ++++++++-
 libraries/AP_DCM/AP_DCM.h   | 1 +
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_DCM/AP_DCM.cpp b/libraries/AP_DCM/AP_DCM.cpp
index 193605f587..f038b3237b 100644
--- a/libraries/AP_DCM/AP_DCM.cpp
+++ b/libraries/AP_DCM/AP_DCM.cpp
@@ -72,6 +72,13 @@ AP_DCM::get_dcm_matrix(void)
 	return _dcm_matrix;
 }
 
+/**************************************************/
+Matrix3f
+AP_DCM::get_dcm_transposed(void)
+{	
+	return _dcm_matrix.transpose();
+}
+
 
     //For Debugging
 /*
@@ -284,7 +291,7 @@ AP_DCM::drift_correction(void)
 				cos_psi_err = cos(ToRad(_gps->ground_course/100.0) - yaw);
 				sin_psi_err = sin(ToRad(_gps->ground_course/100.0) - yaw);
 				// Rxx = cos psi err, Rxy = - sin psi err, Rxz = 0
-				// Ryx = sin psi err, R	yy = cos psi err,   Ryz = 0
+				// Ryx = sin psi err, Ryy = cos psi err,   Ryz = 0
 				// Rzx = Rzy = 0, Rzz = 1
 				rot_mat.a.x = cos_psi_err;
 				rot_mat.a.y = - sin_psi_err;
diff --git a/libraries/AP_DCM/AP_DCM.h b/libraries/AP_DCM/AP_DCM.h
index 85887db12e..e760bc8392 100644
--- a/libraries/AP_DCM/AP_DCM.h
+++ b/libraries/AP_DCM/AP_DCM.h
@@ -47,6 +47,7 @@ public:
 	Vector3f	get_gyro(void);
 	Vector3f	get_accel(void);
 	Matrix3f	get_dcm_matrix(void);
+	Matrix3f	get_dcm_transposed(void);
 	
 	void		set_centripetal(bool b);
 	void		set_compass(Compass *compass);