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

[Lazy]

>From MTi manual:

Interpretation of yaw as heading4
Heading is defined as the angle between north and horizontal projection of
the vehicle roll axis. Yaw is defined for a particular local-level
navigation frame as the angle from a horizontal navigation axis to the
projection of the longitudinal axis in the horizontal plane following the
right-hand rule. Based on the definition of heading and yaw, consider the
use of the MTi in an aircraft which is stationary and pointing north. Below,
a table is displayed that shows the heading and yaw outputs for the three
reference coordinate system (available with MTi)

Reference coordinate system Direction of mounting, aircraft pointing North
Heading value (not outputted by MTi) Yaw value
East-North-Up (ENU) x-axis of MTi aligned with vehicle (pointing North) 0
deg 90 deg
North-West-Up (NWU) x-axis of MTi aligned with vehicle (pointing North) 0
deg 0 deg
North-East-Down (NED) x-axis of MTi aligned with vehicle (pointing North) 0
deg 0 deg

When using the ENU convention (default), the yaw output is 0º when the
vehicle (x-axis of the MTi) is pointing East. When it is required that the
yaw output is 0º when the vehicle (x-axis of the MTi) is pointing North, it
is recommended to select NWU or NED as the reference coordinate system. In
section 4.11 the various alignment resets are described.
Note that for proper working of the MTi-G in the automotive filter profile,
it is needed to mount the MTi in such a way that the yaw indicates 0 deg in
the direction of the vehicle. For ENU coordinate systems without an
alignment reset, this means that the y-axis of the MTi-G should point to the
front of the vehicle, in NWU and NED coordinate systems that means that the
x-axis of the MTi-G should point to the front of the vehicle.



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