From aeadc3d4f2a9a7a626a6c44f0bd0a0892c7a8251 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 18 Mar 2017 12:13:00 -0500
Subject: Adjusted coordinate frame to NED and FRD.

The new coordinates frame for the world and the body correspond to
Junho's code and work well in other versions of this code.
---
 src/body.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/body.cpp')

diff --git a/src/body.cpp b/src/body.cpp
index b9ea683..daf4e69 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -23,7 +23,7 @@
 Body::motionModel ( Matrix<double,9,1> &X, const Vector3d &acc, const Vector3d &ang, const Quaternion<double> &q, const double dt)
 {
     Vector3d bias(X.segment(6,3));
-    Vector3d gravity_world(0.,0.,-9.80655);
+    Vector3d gravity_world(0.,0.,9.80655);
 
     Matrix<double,6,3> A;
     Matrix<double,6,1> b;
-- 
cgit v1.1