Hello,
I would like to report some documentation issues concerning the state estimation and the published data on debug topic and also request some help in order to understand how exactly it works.
Parameters are being kept to default ssdk/tf_ref_frame_id: world
ssdk/tf_tracked_frame_id: pelican
fcu/state_estimation: HighLevel_SSDK
fcu/position_control: off
First of all, debug[19:21] debug[13:15] should give the velocities and position in the world frame (NED). That doesn't seem to be the case (they are in body).
Also, it is states that they are in S.I. (m/s, m). But only if I multiply them by 100 do I get some result that could fit the gps_custom velocity data.
Am I doing something wrong? I can't figure this out from the documentation.
Thank you in advance,
Hello, I would like to report some documentation issues concerning the state estimation and the published data on debug topic and also request some help in order to understand how exactly it works.
Parameters are being kept to default ssdk/tf_ref_frame_id: world ssdk/tf_tracked_frame_id: pelican
fcu/state_estimation: HighLevel_SSDK fcu/position_control: off
First of all, debug[19:21] debug[13:15] should give the velocities and position in the world frame (NED). That doesn't seem to be the case (they are in body). Also, it is states that they are in S.I. (m/s, m). But only if I multiply them by 100 do I get some result that could fit the gps_custom velocity data.
Am I doing something wrong? I can't figure this out from the documentation. Thank you in advance,
Alexandros