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Use current rotation matrix for vision instead of delayed rotation

This commit is contained in:
ggregory8 2014-07-24 22:31:45 +08:00
parent 38d3efa985
commit 25ef4bc4a0
1 changed files with 1 additions and 1 deletions
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2
src/modules/position_estimator_inav/position_estimator_inav_main.c
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@ -912,7 +912,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float c = 0.0f; float c = 0.0f;
for (int j = 0; j < 3; j++) { 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)) { if (isfinite(c)) {