Matrix size mismatch in 6DoF mode

[AlexMcLellanIndra]

Hi,
I've run the demo app, but it crashes for me in 6DoF mode. I debugged into the app to see what the issue is and it seems that the ejml library is throwing an exception due to matrix size mismatch. This happens in DataAccum:: avgyro(DenseMatrix64F out) when called from Kalman::sys_bd_dcm (...). The out value has been initialised in the Kalman class as a 3x3 matrix but the avgyro method is expecting a 3x1 matrix.

Alex.

[AlexMcLellanIndra]

I believe this is the fix:

In the INS.java file,
Line 250: CommonOps.scale (1/acing, acgyro, out);

Should be

Line 250: CommonOps.scale (1/acing, acgyro, vr_a);

Alex.