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[Paparazzi-devel] Paparazzi Convention for Euler Angles


From: Avinash Rao
Subject: [Paparazzi-devel] Paparazzi Convention for Euler Angles
Date: Wed, 15 Feb 2012 13:48:47 +1300

Hi all,

I'm trying to understand the convention used for calculating Euler angles in paparazzi and how they relate to the drift correction in the AHRS.

From looking through the code for determining Euler angles from gravity and magnetometer, it would seem that the conventions is such that:

x_earth = R(psi)*R(theta)*R(phi)*x_body

i.e. the rotation R(psi)*R(theta)*R(phi) will transform a vector x measured in the body frame (e.g the gravity vector) back into the earth frame.

Is this correct or have I made a mistake somewhere?

Thanks very much for your help in advance.

Avinash.

--
Avinash Rao



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