Fix smearing issue, yaw needed to be negated to convert NED-->FLU

castacks · Dec 5, 2024 · 746d87a · 746d87a
1 parent 42132f2
commit 746d87a
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/...p-template/source/extensions/airlab.airstack/airlab/airstack/ogn/OgnAscentNodeDatabase.py b/...p-template/source/extensions/airlab.airstack/airlab/airstack/ogn/OgnAscentNodeDatabase.py
@@ -531,11 +531,11 @@ def f():
 
                             threading.Thread(target=f).start()
                     else:
-                        r = dronekit_connection._roll  # + np.pi / 2
+                        r = dronekit_connection._roll
                         p = dronekit_connection._pitch
                         y = dronekit_connection._yaw
 
-                        rot = Rotation.from_euler("xyz", [r, p, y], degrees=False)
+                        rot = Rotation.from_euler("xyz", [r, p, -y], degrees=False)
                         # quaternion: xyzw
                         q = rot.as_quat()