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AP_Mount: Align received data to AP frame for Storm32 Serial

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(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 6049ee17d5
commit d8f6956366
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
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@ -271,9 +271,10 @@ void AP_Mount_SToRM32_serial::parse_reply() {
break;
}
// Parse angles (Note: reversed pitch and yaw) to match ardupilot coordinate system
_current_angle.x = _buffer.data.imu1_roll;
_current_angle.y = _buffer.data.imu1_pitch;
_current_angle.z = _buffer.data.imu1_yaw;
_current_angle.y = -_buffer.data.imu1_pitch;
_current_angle.z = -_buffer.data.imu1_yaw;
break;
default:
break;