Enu/ned/swap #25
Open
Enu/ned/swap #25
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
added 10 commits
July 16, 2019 10:37
…leanup in the header file.
…messages we take the higher of the two rates.
… data the user is after. AHRS streams need to be enabled for both cases.
…Y swapped with Z inverted.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR applies a patch to how the NED to ENU swap is done. As pointed out in issue #4 when applying the X & Y swap with Z inverted we get a problem of the orientation frame not matching the label of the actual device. This makes things difficult for a bit when setting up the device.
If the parameter
frame_based_enuis set to true, the quaternion orientation will match what is printed on the device label. This makes it much easier for setting up your transforms and also fixes the issue of accelerations not pointing in the same direction of the quaternion.The parameter
frame_based_enudefaults to false so technically no user will see a change unless they specify this to be true.