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Re: [Paparazzi-devel] XSens 700 and airplane on-screen orientation.
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From: |
Lazy |
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Subject: |
Re: [Paparazzi-devel] XSens 700 and airplane on-screen orientation. |
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Date: |
Wed, 5 Nov 2014 08:37:30 -0700 (MST) |
Hi gang :)
I setted up NED rotation matrix on MTi adn start changing code.
So, question about angles and signs. For shure...
1. Euler angles. Pitch up - angles positive. Down - negative. Roll right -
angles 30 degree, left - 330 degree. Turn right - angles 30 degree, left -
330 degree.
2. Gyro. ins_p (roll) turn right positive, left - negative. ins_q (pitch)
turn up - negative, down - positive. ins_r (yaw) - turn right negative, left
- positive.
Based on Christophe message, gyros must have positive angles when
right/up/right, but chang signs in code fail...
Sincerely
Vlad
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