Pitch correct in RAN data?

[nilsbore]

We should see if the conversion between NED and ENU coordinate system invalidates some of the pitch readings.

Basically, the heading/yaw should already be correct. The roll is the same AFAIK. However, the pitch needs to be negated. I don't know right know how this is handled for the .all and .xtf files from RAN. Maybe @xyp8023 can look into it if he's looking at the RAN data now.

[xyp8023]

According to the .xtf data format specifications, for pitch, positive value is nose up. According to the .all data format specifications, Pitch is positive with bow up. Then I think we are all set, they are both using ENU, as far as I understand.

[nilsbore]

In that case, they are using NED. Positive angles should be nose pitching down in ENU.

[nilsbore]

I wonder if we should just transition all of auvlib to use NED instead, since that is what all the formats are using. Any thoughts? It would be a pretty big undertaking.

[xyp8023]

Probably that'd be for the best if all underwater community are using NED. Saves us some effort in the future.

[nilsbore]

Added point to 1.0 goal: #49