fixed a multiplication issue in Body2Global

ISSUIUC · Dec 18, 2024 · bc66d7f · bc66d7f
1 parent c1026c8
commit bc66d7f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/MIDAS/src/gnc/yessir.cpp b/MIDAS/src/gnc/yessir.cpp
@@ -230,7 +230,7 @@ Eigen::Matrix<float, 3, 1> Yessir::BodyToGlobal(euler_t angles, Eigen::Matrix<fl
     roll << 1., 0., 0., 0., cos(angles.roll), -sin(angles.roll), 0., sin(angles.roll), cos(angles.roll);
     pitch << cos(angles.pitch), 0., sin(angles.pitch), 0., 1., 0., -sin(angles.pitch), 0., cos(angles.pitch);
     yaw << cos(angles.yaw), -sin(angles.yaw), 0., sin(angles.yaw), cos(angles.yaw), 0., 0., 0., 1.;
-    return yaw * pitch * body_vect;
+    return yaw * pitch * roll * body_vect;
 }