Fixing and simplifying mavlink odometry handling #12793
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TSC21
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Admin: Enhancement (improvement) 💡
Sensor: VIO
Feature: Vision
mhkabir
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Aug 30, 2019
kamilritz
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LorenzMeier
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Aug 30, 2019
MaEtUgR
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Aug 31, 2019
| @@ -2,7 +2,7 @@ | |||
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| uint64 timestamp # time since system start (microseconds) | |||
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| float32[4] q # Quaternion rotation from NED earth frame to XYZ body frame | |||
| float32[4] q # Quaternion rotation from XYZ body frame to NED earth frame. | |||
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@kamilritz Good catch, we're consistently using hamilton quaternion convention since PX4/PX4-Matrix#34 which has the 4 properties:
- the first element is real [w, x, y, z]
- right-handedness i * j = k
- passive operation, vectors stay we just change frame
- q rotates from local to global q * [0; v_local] * q* = v_global
I always overlooked the comment that was introduced at the same time.
bozkurthan
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Sep 4, 2019
* Fixing and simplify mavlink odometry
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Fixes wrong usage of attitude quaternion in transforming odometry information from body to local frame and vice versa . The quaternion of the EKF state rotates from body frame to local frame and not the other way.
The number of supported frames in mavlink_receiver are reduced to one, to make it clearer what is expected from the FCU. A few of the droped cases where also not making sense.
Until now most external velocity information reaching the EKF was not correct. Luckily, velocity estimates from external sensors were not used in the EKF.
The name of some frames is also slightly adapted to follow the changes in mavlink/mavlink#1207 .