The nav code currently uses right transformational quaternions with Shuster's conventions. However, the BNO055 IMU uses right rotational quaternions with Hamilton's conventions. To ease development and testing, the nav code should be changed to match this convention.
The nav code currently uses right transformational quaternions with Shuster's conventions. However, the BNO055 IMU uses right rotational quaternions with Hamilton's conventions. To ease development and testing, the nav code should be changed to match this convention.