Reference Frame of Acceleration Data
Posted: Wed Feb 19, 2020 7:07 am
Hello!
I am having trouble understanding the acceleration observations on the Crazyflie Nano platform, specifically regarding the accelerations. (`stateEstimate.ax/ay/az`)
When keeping the drone on the ground and reading `stateEstimate.ax/ay/az`, all of the values are near zero. `stateEstimate.az` is around 0.04. However, my understanding of accelerometer data is that it should be -9.8 when sitting flat on the ground. Is the `stateEstimate.ax/ay/az` in the world frame instead of the body frame? What is the logic/math behind the `stateEstimate.ax/ay/az` values?
I tried to search the forums for previous topics on this, but the best I could find was the following comment by @nicuvlad94, which was not answered due to being off topic. viewtopic.php?f=2&t=4125&p=18896#p18896
If someone can explain this, it would be much appreciated.
Thank you
I am having trouble understanding the acceleration observations on the Crazyflie Nano platform, specifically regarding the accelerations. (`stateEstimate.ax/ay/az`)
When keeping the drone on the ground and reading `stateEstimate.ax/ay/az`, all of the values are near zero. `stateEstimate.az` is around 0.04. However, my understanding of accelerometer data is that it should be -9.8 when sitting flat on the ground. Is the `stateEstimate.ax/ay/az` in the world frame instead of the body frame? What is the logic/math behind the `stateEstimate.ax/ay/az` values?
I tried to search the forums for previous topics on this, but the best I could find was the following comment by @nicuvlad94, which was not answered due to being off topic. viewtopic.php?f=2&t=4125&p=18896#p18896
If someone can explain this, it would be much appreciated.
Thank you