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

[Lazy]

Yes, Felix, I use ENU and other default setting. I experimented in version
4.2 with the change of orientation - it's a bad idea. PFD show correct
angles.
I can change ins_psi by adding 90 degrees, but how it will affect the
management of aircraft?


#if USE_INS_MODULE 
#include "state.h" 
static inline void update_fw_estimator(void) { 
// Send to Estimator (Control) 
#if XSENS_BACKWARDS 
  struct FloatEulers att = { 
    ins_phi+ins_roll_neutral, 
    -ins_theta+ins_pitch_neutral, 
    -ins_psi + RadOfDeg(180) 
  }; 
  struct FloatRates rates = { 
    ins_p, 
    -ins_q, 
    -ins_r 
  }; 
#else 
  struct FloatEulers att = { 
    -ins_phi+ins_roll_neutral, 
    ins_theta+ins_pitch_neutral, 
    -ins_psi 
  }; 
  struct FloatRates rates = { 
    -ins_p, 
    ins_q, 
    -ins_r 
  }; 
#endif 
  stateSetNedToBodyEulers_f(&att); 
  stateSetBodyRates_f(&rates); 
} 
#endif /* USE_INS_MODULE */ 





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