uas_sensor_orientation: return identity quaternion if no orientation …

…match
mavlink · Jul 16, 2015 · 3c3bac7 · 3c3bac7
1 parent 5003940
commit 3c3bac7
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/mavros/src/lib/uas_sensor_orientation.cpp b/mavros/src/lib/uas_sensor_orientation.cpp
@@ -70,7 +70,7 @@ Eigen::Quaterniond UAS::sensor_orientation_matching(MAV_SENSOR_ORIENTATION orien
 	size_t idx = size_t(orientation);
 	if (idx >= sensor_orientation.size()) {
 		ROS_WARN_NAMED("uas", "SENSOR: wrong orintation index: %zu", idx);
-		return Eigen::Quaterniond();
+		return Eigen::Quaterniond(1,0,0,0);
 	}
 
 	return UAS::quaternion_from_rpy(Eigen::Vector3d(sensor_orientation[idx].x(),