Why is the angZ always set to 0? The only code that changes the angZ value is commented. Is it just because of testing and it shldnt've been commented out?
Are you sure your calculated alphas are correct? I calculated and I got different results (actually I figured that the difference is only that I put the rb_yaw inside fabs() when the rb_yaw is -ve). I will put my calculations in the code as comments while we test ur calculations first. If it doesnt work, we try my calculation.
Double check with Ben where 0 yaw is, and which one is x axis and which one is y axis.
Why is the angZ always set to 0? The only code that changes the angZ value is commented. Is it just because of testing and it shldnt've been commented out?
Are you sure your calculated alphas are correct? I calculated and I got different results (actually I figured that the difference is only that I put the rb_yaw inside fabs() when the rb_yaw is -ve). I will put my calculations in the code as comments while we test ur calculations first. If it doesnt work, we try my calculation.
Double check with Ben where 0 yaw is, and which one is x axis and which one is y axis.