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SITL: fixed running of example programs

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This commit is contained in:
Mark Whitehorn 2020-05-15 08:10:11 -06:00 committed by Peter Barker
parent a349a2f956
commit a54f286c1b
1 changed files with 5 additions and 2 deletions
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7
libraries/SITL/SIM_Aircraft.cpp
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@ -77,9 +77,12 @@ Aircraft::Aircraft(const char *frame_str) :
// ahrs_orientation->get() returns ROTATION_NONE here, regardless of the actual value
enum Rotation imu_rotation = ahrs_orientation?(enum Rotation)ahrs_orientation->get():ROTATION_NONE;
sitl->ahrs_rotation.from_rotation(imu_rotation);
sitl->ahrs_rotation_inv = sitl->ahrs_rotation.transposed();
last_imu_rotation = imu_rotation;
// sitl is null if running example program
if (sitl) {
sitl->ahrs_rotation.from_rotation(imu_rotation);
sitl->ahrs_rotation_inv = sitl->ahrs_rotation.transposed();
}
terrain = reinterpret_cast<AP_Terrain *>(AP_Param::find_object("TERRAIN_"));
}