Closed andre-nguyen closed 7 years ago
Yes, the MAV body frame has z
axis aligned with the gravity vector. While in the controller the body frame has z
axis pointing upward. See here http://wiki.asctec.de/display/AR/SDK+Manual
Therefore we need to transform the coordinates.
Here https://github.com/ethz-asl/asctec_mav_framework/blob/master/asctec_hl_interface/src/hl_interface.cpp#L522
Why is there a negative in front of the roll and pitch, is this some kind of coordinate transformation?