[Paparazzi-devel] Paparazzi Convention for Euler Angles

[Avinash Rao]

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.

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Avinash Rao