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

[Devyesh Tandon]

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?

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

Hi,

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:
http://docs.paparazziuav.org/latest/group__state__interface.html

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 

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With Best Regards,

Devyesh Tandon

IIT Bombay.