From bc66d7f942d40f710aaa5ff50f323bd5dc9148fb Mon Sep 17 00:00:00 2001
From: Shishir <sb74@illinois.edu>
Date: Tue, 17 Dec 2024 21:23:36 -0600
Subject: [PATCH] fixed a multiplication issue in `Body2Global`

---
 MIDAS/src/gnc/yessir.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/MIDAS/src/gnc/yessir.cpp b/MIDAS/src/gnc/yessir.cpp
index 402b993..9aef174 100644
--- 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;
 }