From 25ef4bc4a0557327af1f32d81c86e8981772a844 Mon Sep 17 00:00:00 2001 From: ggregory8 Date: Thu, 24 Jul 2014 22:31:45 +0800 Subject: [PATCH] Use current rotation matrix for vision instead of delayed rotation --- .../position_estimator_inav/position_estimator_inav_main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index d3192fec21..06a81e3fee 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -912,7 +912,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float c = 0.0f; for (int j = 0; j < 3; j++) { - c += R_gps[j][i] * accel_bias_corr[j]; + c += att.R[j][i] * accel_bias_corr[j]; } if (isfinite(c)) {