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

[Felix Ruess]

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. http://docs.paparazziuav.org/latest/ahrs__float__mlkf__wrapper_8c_source.html#l00140

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?

ᐧ

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 

ᐧ

_______________________________________________
Paparazzi-devel mailing list
address@hidden
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

_______________________________________________
Paparazzi-devel mailing list
address@hidden
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel

--

With Best Regards,

Devyesh Tandon

IIT Bombay.

_______________________________________________
Paparazzi-devel mailing list
address@hidden
https://lists.nongnu.org/mailman/listinfo/paparazzi-devel