From c5ce8f39ae6a25655fc7f85a0639458bb170b312 Mon Sep 17 00:00:00 2001 From: andrea-nisti Date: Fri, 24 Apr 2015 15:51:52 +0200 Subject: [PATCH] Order fixed for vision position quaternion changed from [x y z w] to [w x y z]. In this way the notation is consistent and flightplot shows the real values. --- src/modules/sdlog2/sdlog2.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 8193cf1814..e2274342e6 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1648,10 +1648,10 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_VISN.vx = buf.vision_pos.vx; log_msg.body.log_VISN.vy = buf.vision_pos.vy; log_msg.body.log_VISN.vz = buf.vision_pos.vz; - log_msg.body.log_VISN.qx = buf.vision_pos.q[0]; - log_msg.body.log_VISN.qy = buf.vision_pos.q[1]; - log_msg.body.log_VISN.qz = buf.vision_pos.q[2]; - log_msg.body.log_VISN.qw = buf.vision_pos.q[3]; + log_msg.body.log_VISN.qw = buf.vision_pos.q[0]; // vision_position_estimate uses [w,x,y,z] convention + log_msg.body.log_VISN.qx = buf.vision_pos.q[1]; + log_msg.body.log_VISN.qy = buf.vision_pos.q[2]; + log_msg.body.log_VISN.qz = buf.vision_pos.q[3]; LOGBUFFER_WRITE_AND_COUNT(VISN); }