From 2d9d803e4d6e4597285f940ff8556eec81286789 Mon Sep 17 00:00:00 2001 From: Emilio Corigliano <emilio.corigliano@skywarder.eu> Date: Mon, 2 Oct 2023 14:57:21 +0000 Subject: [PATCH] [StateInitializer] Wrong calculus in the computation of the rotation matrix --- src/shared/algorithms/NAS/StateInitializer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/shared/algorithms/NAS/StateInitializer.cpp b/src/shared/algorithms/NAS/StateInitializer.cpp index 528f5be25..902379061 100644 --- a/src/shared/algorithms/NAS/StateInitializer.cpp +++ b/src/shared/algorithms/NAS/StateInitializer.cpp @@ -78,7 +78,7 @@ void StateInitializer::triad(const Vector3f& acc, const Vector3f& mag, m << r1, r2, r3; // Compute the rotation matrix and the corresponding quaternion - Matrix3f A = M * m.transpose(); + Matrix3f A = m * M.transpose(); Vector4f q = SkyQuaternion::rotationMatrix2quat(A); // Save the orientation in the state -- GitLab