From 746d87a7312181483b832b50d47e54a6f57bc533 Mon Sep 17 00:00:00 2001 From: Andrew Jong Date: Thu, 5 Dec 2024 13:12:57 -0500 Subject: [PATCH] Fix smearing issue, yaw needed to be negated to convert NED-->FLU --- .../airlab/airstack/ogn/OgnAscentNodeDatabase.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/simulation/isaac-sim/sitl_integration/kit-app-template/source/extensions/airlab.airstack/airlab/airstack/ogn/OgnAscentNodeDatabase.py b/simulation/isaac-sim/sitl_integration/kit-app-template/source/extensions/airlab.airstack/airlab/airstack/ogn/OgnAscentNodeDatabase.py index ab72d8ed..959d07db 100644 --- a/simulation/isaac-sim/sitl_integration/kit-app-template/source/extensions/airlab.airstack/airlab/airstack/ogn/OgnAscentNodeDatabase.py +++ b/simulation/isaac-sim/sitl_integration/kit-app-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()