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
-- 
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