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Georacer / last_letter

A collection of ROS packages for UAV simulation and autopilot development
GNU General Public License v3.0
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Virtual Accelerometers #3

Open Georacer opened 9 years ago

Georacer commented 9 years ago

Virtual accelerometers apparently need to publish body-fixed, linear accelerations only, excluding the Corriolis acceleration. Mathematical reasoning should back-up this fact and published accordingly in the supporting documentation.

Georacer commented 7 years ago

Stevens2003 has some lines on it on p.26.

The reading a should be a=F_b/m - F_g,b. i.e. the sum of the forces minus gravity. The frame of refernce, body or inertial does not play a role here.

The corriolis effect is introduced only in the dot_v calculation for the body frame, not for the calculation of acceleration.

Still it should be documented.