Tailsitter attitude correction

Open amandastowers opened this issue 3 years ago • 1 comments

Hi, I have added some logic to do orientation conversion on attitude for tailsitters in fixed wing mode. Before this logic, tailsitters would appear very unable to track attitude trajectories in fixed wing mode. Now flight review can correctly display the tailsitter attitudes. See attached images for before and after. newpitch newroll oldpitch oldroll

Jul 15 '22 00:07 amandastowers

Thanks for looking into this. I'm a bit surprised to see the FC does not publish a consistent attitude + setpoint. Instead of adding custom logic in here, we should make sure the data is published consistently. I had a quick chat with @sfuhrer and he anyway wants to do that.

Jul 19 '22 14:07 bkueng

Changes requested by @bkueng incorporated.

Aug 15 '22 20:08 amandastowers

OK, think everything above should be corrected now.

Aug 22 '22 18:08 amandastowers

Should be resolved now

Aug 23 '22 19:08 amandastowers