Re: [Paparazzi-devel] Paparazzi Convention for Euler Angles

[antoine drouin]

look in doc/pprz_algebra/headfile.pdf

On Wed, Feb 15, 2012 at 1:48 AM, Avinash Rao <address@hidden> wrote:
> Hi all,
>
> I'm trying to understand the convention used for calculating Euler angles in
> paparazzi and how they relate to the drift correction in the AHRS.
>
> From looking through the code for determining Euler angles from gravity and
> magnetometer, it would seem that the conventions is such that:
>
> x_earth = R(psi)*R(theta)*R(phi)*x_body
>
> i.e. the rotation R(psi)*R(theta)*R(phi) will transform a vector x measured
> in the body frame (e.g the gravity vector) back into the earth frame.
>
> Is this correct or have I made a mistake somewhere?
>
> Thanks very much for your help in advance.
>
> Avinash.
>
> --
> Avinash Rao
>
>
>
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