Open Georacer opened 9 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.
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.