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Code Issues Releases Activity

Attitude: Keep first element of quaternion positive

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This commit is contained in:
James Cotton 2011-08-08 10:36:55 -05:00
parent 247da8c24b
commit ec2121bca8
1 changed files with 7 additions and 0 deletions
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7
flight/Modules/Attitude/attitude.c
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@ -329,6 +329,13 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
q[1] = q[1] + qdot[1]; q[1] = q[1] + qdot[1];
q[2] = q[2] + qdot[2]; q[2] = q[2] + qdot[2];
q[3] = q[3] + qdot[3]; q[3] = q[3] + qdot[3];
if(q[0] < 0) {
q[0] = -q[0];
q[1] = -q[1];
q[2] = -q[2];
q[3] = -q[3];
}
} }
// Renomalize // Renomalize