Page 1 of 1
external orientation as quaternion
Posted: Fri Mar 26, 2021 9:55 am
by Naidala
Hi, I have read that in Crazyflie body frame of reference the pitch rotation is left-hand thumb rule, while the rest is right-hand.
Now, I want to send attitude measurement with Vicon MoCap, which gives rotation, as far as I understood, in a standard counter-clockwise fashion.
Vicon can return me the quaternion of the global rotation, and I suppose I may just have to change some component's sign.
Has anyone else already tried to use Vicon and may give some advice?
Re: external orientation as quaternion
Posted: Mon Mar 29, 2021 9:25 am
by whoenig
This strange signage is only true for the euler angle logging variables (stateEstimate.{roll,pitch,yaw}) and it is there for historical reasons and was not changed to keep backwards compatibility. The on-board quaternion follows the regular right-handed rule, which is also used by VICON. Thus, you can directly use the information that you get from the DataStream SDK, provided that you created the rigid body in Vicon Tracker such that positive x is where the radio chip antenna is.
Re: external orientation as quaternion
Posted: Fri May 14, 2021 8:59 am
by darecem414
Naidala wrote: ↑Fri Mar 26, 2021 9:55 am
Hi, I have read that in Crazyflie body frame of reference the pitch rotation is left-hand thumb rule, while the rest is right-hand.
Now, I want to send attitude measurement with showbox Vicon MoCap, which gives rotation, as far tutuapp as I understood, in a standard counter-clockwise kodi fashion.
Vicon can return me the quaternion of the global rotation, and I suppose I may just have to change some component's sign.
Has anyone else already tried to use Vicon and may give some advice?
Hi Naidala, I tried Vicon and got the result pretty good with that.
Regards,
Connie R. Lawson
Re: external orientation as quaternion
Posted: Sat May 15, 2021 7:49 am
by Naidala
Hi Naidala, I tried Vicon and got the result pretty good with that.
Hi, did you have to change coordinates to the measurement sent, or you passed them to send_extpose just as they are returned by Vicon?
And which commander did you use?
Thanks!