[Top][All Lists]

[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]

Re: [Paparazzi-devel] Alignment of Body axis and Rotation matrices

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Alignment of Body axis and Rotation matrices
Date: Mon, 23 Nov 2015 19:04:57 +0100

The AHRS algos are normally initialized with an identity rotation.
When the AHRS aligner has run, the lowpassed IMU measurements are used to set the initial orientation and the filter set to aligned.
See e.g.

On Mon, Nov 23, 2015 at 6:30 PM, Devyesh Tandon <address@hidden> wrote:
Thanks a lot Felix for the help!! :) I was wondering how is the inertial frame aligned w.r.t body frame at t =0 ? Does there exist a wiki doc on the same?

On Sat, Nov 21, 2015 at 11:37 PM, Felix Ruess <address@hidden> wrote:

the body frame is a standard aerospace X-forward, Y-right, Z-down frame.
You can get the attitude (w.r.t. NED local frame) in different representations from the state interface:
If you want the attitude w.r.t. ECEF, you have calculate it using the state.ned_origin_i.ltp_of_ecef rotation matrix.

Cheers, Felix

On Fri, Nov 20, 2015 at 4:52 PM, Devyesh Tandon <address@hidden> wrote:
Hi Guys,

I would like to know how is Body frame aligned to the quadrotor. Is there any documentation for the same? I tried searching but I could not find the same.
Also is there a function which can fetch ENU/ECEF to body rotation matrix/Euler Angles that can be used for further computations?

Thanks a lot! :)

Devyesh Tandon 

Paparazzi-devel mailing list

Paparazzi-devel mailing list

With Best Regards,
Devyesh Tandon
IIT Bombay.

Paparazzi-devel mailing list

reply via email to

[Prev in Thread] Current Thread [Next in Thread]