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gimbal_controller: send attitude in Earth frame #1023

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Mar 3, 2024
Merged

gimbal_controller: send attitude in Earth frame #1023

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11 changes: 2 additions & 9 deletions src/gazebo_gimbal_controller_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -695,18 +695,11 @@ void GimbalControllerPlugin::SendGimbalDeviceAttitudeStatus()
const uint16_t flags =
GIMBAL_DEVICE_FLAGS_ROLL_LOCK |
GIMBAL_DEVICE_FLAGS_PITCH_LOCK |
(this->yawLock ? GIMBAL_DEVICE_FLAGS_YAW_LOCK : 0);
(this->yawLock ? GIMBAL_DEVICE_FLAGS_YAW_LOCK : 0) |
GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME;

auto q = q_ENU_to_NED * this->cameraImuSensor->Orientation() * q_FLU_to_FRD.Inverse();

if (!this->yawLock) {
// In follow mode we need to transform the absolute camera orientation to an orientation
// relative to the vehicle because that's what the gimbal protocol suggests.
const auto q_vehicle = q_ENU_to_NED * ignition::math::Quaterniond(0.0, 0.0, this->vehicleYawRad) * q_FLU_to_FRD.Inverse();
const auto e = q.Euler();
q.Euler(e[0], e[1], e[2] - q_vehicle.Euler()[2]);
}

const float qArr[4] = {
static_cast<float>(q.W()),
static_cast<float>(q.X()),
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