RoboticsClubatUCF / ucf_AHRS

A package to drive Sparton AHRS-8 devices
MIT License
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Pitch and Roll and inverted in ENU format #1

Open nerellasureshkumar7 opened 5 years ago

nerellasureshkumar7 commented 5 years ago

Hi, i'm using sparton IMU(GEDC -6E) sensor. I tested the sensor with your package. When i started looking at the output using rviz the pitch and roll are inverted. Could you help me out in this issue.

Azimath commented 5 years ago

Hello, Sorry for the late reply, are you looking at fused IMU orientation or accelerometer/gyro data?

On Mon, Aug 19, 2019, 5:48 AM nerellasureshkumar7 notifications@github.com wrote:

Hi, i'm using sparton IMU(GEDC -6E) sensor. I tested the sensor with your package. When i started looking at the output using rviz the pitch and roll are inverted. Could you help me out in this issue.

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nerellasureshkumar7 commented 5 years ago

hi No, i'm looking at the values that are being published in the IMU topic. When i'm visualizing the values using rviz the values and the pitch and roll are inverted. Is there any issue with conversion of NED to ENU ?

Azimath commented 5 years ago

It probably is a NED to ENU conversion problem. Somewhere in the code we invert a few of the axes to try converting, they may be incorrect. I don't haev an IMU to test with anymore but if you look around https://github.com/RoboticsClubatUCF/ucf_AHRS/blob/master/core_sparton/src/ahrs8_nmea.py#L47 you might be able to find the problem.

On Thu, Aug 29, 2019 at 7:13 AM nerellasureshkumar7 < notifications@github.com> wrote:

hi No, i'm looking at the values that are being published in the IMU topic. When i'm visualizing the values using rviz the values and the pitch and roll are inverted. Is there any issue with conversion of NED to ENU ?

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