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fw pos ctrl: remove a wrong transpose

This commit is contained in:
Thomas Gubler 2014-01-01 16:33:50 +01:00
parent 3000d08b05
commit ec8bc6c020
1 changed files with 1 additions and 1 deletions
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2
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -764,7 +764,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* filter speed and altitude for controller */
math::Vector3 accel_body(_sensor_combined.accelerometer_m_s2[0], _sensor_combined.accelerometer_m_s2[1], _sensor_combined.accelerometer_m_s2[2]);
math::Vector3 accel_earth = _R_nb.transpose() * accel_body;
math::Vector3 accel_earth = _R_nb * accel_body;
_tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
float altitude_error = _mission_item_triplet.current.altitude - _global_pos.alt;