Re: [Paparazzi-devel] XSens 700 and airplane on-screen orientation.

[Felix Ruess]

Hi,

From the code it rather look like you have to setup the xsens to output data in NWU frame (not NED).
Would also be great if the driver would properly configure the xsens first.

Additionally it seems to me that the acceleration is currently not properly rotated, although currently not that critical as it doesn't seem to be used...

I opened an issue to track this: https://github.com/paparazzi/paparazzi/issues/924

Cheers, Felix

On Tue, Nov 4, 2014 at 11:52 AM, Christophe De Wagter <address@hidden> wrote:

The xsens is a closed system and always internally coherent. Changing how paparazzi reads the output does not affect its internal kalman filter.

All the values need to be copied in the correct paparazzi variable with the correct sign. Navigation and control will only work if all variables have the correct sign in the ground station.

-Christophe 

On Mon, Nov 3, 2014 at 6:03 PM, Lazy <address@hidden> wrote:

Oh god...Amazing :)
Dear Christophe, please explane me:
Putting a minus/plus/-180 will not affect the stability of the XSens nor the
integrity of attitude computations as the XSens does not care.

Sincerely you
Vlad



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