Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Mount: Align received data to AP frame for Storm32 Serial 

(Note: reversed pitch and yaw) to match NED.

Update AP_Mount_SToRM32_serial.cpp
This commit is contained in:
Moe Bataineh 2022-12-08 11:09:49 -06:00 committed by Randy Mackay
parent 5f238f9296
commit 5b9403527b
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
View File

@ -269,9 +269,10 @@ void AP_Mount_SToRM32_serial::parse_reply() {
break; break;
} }
// Parse angles (Note: reversed pitch and yaw) to match ardupilot coordinate system
_current_angle.x = _buffer.data.imu1_roll; _current_angle.x = _buffer.data.imu1_roll;
_current_angle.y = _buffer.data.imu1_pitch; _current_angle.y = -_buffer.data.imu1_pitch;
_current_angle.z = _buffer.data.imu1_yaw; _current_angle.z = -_buffer.data.imu1_yaw;
break; break;
default: default:
break; break;