From 313ce196215f2625c1f6b20e49722b51631bdb37 Mon Sep 17 00:00:00 2001
From: Xavier Dias <93143666+Xavi007@users.noreply.github.com>
Date: Mon, 18 Dec 2023 05:42:47 +0530
Subject: [PATCH] Xavi007: #903  There's an error in the transformation_matrix
 of Quadrotor renamed "yaw" to "roll" (#906)

---
 AerialNavigation/drone_3d_trajectory_following/Quadrotor.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/AerialNavigation/drone_3d_trajectory_following/Quadrotor.py b/AerialNavigation/drone_3d_trajectory_following/Quadrotor.py
index 413a8625a5d..c379e5eda0e 100644
--- a/AerialNavigation/drone_3d_trajectory_following/Quadrotor.py
+++ b/AerialNavigation/drone_3d_trajectory_following/Quadrotor.py
@@ -56,7 +56,7 @@ def transformation_matrix(self):
             [[cos(yaw) * cos(pitch), -sin(yaw) * cos(roll) + cos(yaw) * sin(pitch) * sin(roll), sin(yaw) * sin(roll) + cos(yaw) * sin(pitch) * cos(roll), x],
              [sin(yaw) * cos(pitch), cos(yaw) * cos(roll) + sin(yaw) * sin(pitch)
               * sin(roll), -cos(yaw) * sin(roll) + sin(yaw) * sin(pitch) * cos(roll), y],
-             [-sin(pitch), cos(pitch) * sin(roll), cos(pitch) * cos(yaw), z]
+             [-sin(pitch), cos(pitch) * sin(roll), cos(pitch) * cos(roll), z]
              ])
 
     def plot(self):  # pragma: no cover