{"action":"opened","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/1969","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/1969/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/1969/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/1969/events","html_url":"https://github.com/PX4/Firmware/issues/1969","id":65822800,"number":1969,"title":" i think there is a bug in estimator_utilities.cpp ","user":{"login":"cat888","id":11550224,"avatar_url":"https://avatars.githubusercontent.com/u/11550224?v=3","gravatar_id":"","url":"https://api.github.com/users/cat888","html_url":"https://github.com/cat888","followers_url":"https://api.github.com/users/cat888/followers","following_url":"https://api.github.com/users/cat888/following{/other_user}","gists_url":"https://api.github.com/users/cat888/gists{/gist_id}","starred_url":"https://api.github.com/users/cat888/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/cat888/subscriptions","organizations_url":"https://api.github.com/users/cat888/orgs","repos_url":"https://api.github.com/users/cat888/repos","events_url":"https://api.github.com/users/cat888/events{/privacy}","received_events_url":"https://api.github.com/users/cat888/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":0,"created_at":"2015-04-02T02:42:10Z","updated_at":"2015-04-02T02:42:10Z","closed_at":null,"body":" i think there is a bug in estimator_utilities.cpp \r\n// overload * operator to provide a matrix vector product\r\nVector3f operator*( Mat3f matIn, Vector3f vecIn)\r\n{\r\n    Vector3f vecOut;\r\n    vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z;\r\n    vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z;\r\n    vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z;\r\n    return vecOut;\r\n}\r\n   it should be,\r\n vecOut.z = matIn.z.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z;\r\n"}}