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Fix rates, acc and gyro coordinate frame in mavlink

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All of them should be in frd.
Get rid of fluToFrd function - there is no big need for it.
This commit is contained in:
Oleg Kalachev 2025-07-19 05:32:49 +03:00
parent 29f1a2b22b
commit 5eccb3f0c4
1 changed files with 3 additions and 9 deletions
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12
flix/mavlink.ino
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@ -49,9 +49,8 @@ void sendMavlink() {
lastFast = t; lastFast = t;
const float zeroQuat[] = {0, 0, 0, 0}; const float zeroQuat[] = {0, 0, 0, 0};
Quaternion att = fluToFrd(attitude); // MAVLink uses FRD coordinate system
mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
time, att.w, att.x, att.y, att.z, rates.x, rates.y, rates.z, zeroQuat); time, attitude.w, attitude.x, -attitude.y, -attitude.z, rates.x, -rates.y, -rates.z, zeroQuat); // convert to frd
sendMessage(&msg); sendMessage(&msg);
mavlink_msg_rc_channels_raw_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0, mavlink_msg_rc_channels_raw_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, controlTime * 1000, 0,
@ -64,8 +63,8 @@ void sendMavlink() {
sendMessage(&msg); sendMessage(&msg);
mavlink_msg_scaled_imu_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, mavlink_msg_scaled_imu_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time,
acc.x * 1000, acc.y * 1000, acc.z * 1000, acc.x * 1000, -acc.y * 1000, -acc.z * 1000, // convert to frd
gyro.x * 1000, gyro.y * 1000, gyro.z * 1000, gyro.x * 1000, -gyro.y * 1000, -gyro.z * 1000,
0, 0, 0, 0); 0, 0, 0, 0);
sendMessage(&msg); sendMessage(&msg);
} }
@ -215,9 +214,4 @@ void sendMavlinkPrint() {
mavlinkPrintBuffer.clear(); mavlinkPrintBuffer.clear();
} }
// Convert Forward-Left-Up to Forward-Right-Down quaternion
inline Quaternion fluToFrd(const Quaternion &q) {
return Quaternion(q.w, q.x, -q.y, -q.z);
}
#endif #endif