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Use FLU as the main coordinate system instead of FRD

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Corresponding to the IMU orientation in the new version
This commit is contained in:
Oleg Kalachev
2024-10-23 09:30:49 +03:00
parent f46460e53d
commit abcc9b96de
7 changed files with 27 additions and 32 deletions
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8
flix/mavlink.ino
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@@ -38,8 +38,9 @@ void sendMavlink() {
lastFast = t;
const float zeroQuat[] = {0, 0, 0, 0};
Quaternion attitudeFRD = FLU2FRD(attitude); // MAVLink uses FRD coordinate system
mavlink_msg_attitude_quaternion_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg,
time, attitude.w, attitude.x, attitude.y, attitude.z, rates.x, rates.y, rates.z, zeroQuat);
time, attitudeFRD.w, attitudeFRD.x, attitudeFRD.y, attitudeFRD.z, rates.x, rates.y, rates.z, zeroQuat);
sendMessage(&msg);
mavlink_msg_rc_channels_scaled_pack(SYSTEM_ID, MAV_COMP_ID_AUTOPILOT1, &msg, time, 0,
@@ -97,4 +98,9 @@ void handleMavlink(const void *_msg) {
}
}
// Convert Forward-Left-Up to Forward-Right-Down quaternion
inline Quaternion FLU2FRD(const Quaternion &q) {
return Quaternion(q.w, q.x, -q.y, -q.z);
}
#endif