Commit af051523 authored by Ryan Pavlik's avatar Ryan Pavlik

t_imu_fusion: Fix initialization of orientation from accelerometer.

parent 08903e67
......@@ -95,7 +95,7 @@ public:
// Initially, just set it to totally trust gravity.
started_ = true;
quat_ = Eigen::Quaterniond::FromTwoVectors(
Eigen::Vector3d::UnitY(), accel.normalized());
accel.normalized(), Eigen::Vector3d::UnitY());
return true;
auto scale = 1. - diff;
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