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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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9
gazebo/simulator.cpp
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@@ -17,7 +17,6 @@
#include "Arduino.h"
#include "flix.h"
#include "util.h"
#include "util.ino"
#include "rc.ino"
#include "time.ino"
@@ -63,9 +62,9 @@ public:
__micros = model->GetWorld()->SimTime().Double() * 1000000;
step();
// read imu
gyro = flu2frd(imu->AngularVelocity());
acc = this->accFilter.update(flu2frd(imu->LinearAcceleration()));
// read virtual imu
gyro = Vector(imu->AngularVelocity().X(), imu->AngularVelocity().Y(), imu->AngularVelocity().Z());
acc = this->accFilter.update(Vector(imu->LinearAcceleration().X(), imu->LinearAcceleration().Y(), imu->LinearAcceleration().Z()));
// read rc
readRC();
@@ -75,7 +74,7 @@ public:
estimate();
// correct yaw to the actual yaw
attitude.setYaw(-this->model->WorldPose().Yaw());
attitude.setYaw(this->model->WorldPose().Yaw());
control();
parseInput();