Why need a negative when read acceleration

HKUST-Aerial-Robotics / VINS-Mobile

Monocular Visual-Inertial State Estimator on Mobile Phones

GNU General Public License v3.0

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Open superxjm opened 6 years ago

superxjm commented 6 years ago

The code is： acc_msg->acc << -latestAcc.acceleration.x GRAVITY, -latestAcc.acceleration.y GRAVITY, -latestAcc.acceleration.z * GRAVITY;

As the acceleration is represented in body frame (emu frame), why does it need a negative here?

arenas7307979 commented 2 years ago

hi, same question