Plot drone trajectory

[viet2411]

Hello! Can you explain how you calculated x,y,z pos in this code please? ` def log_data_handler(self, event, sender, data): """ Listener to log data from the drone. """ global sensors sensors = data pos_x = -data.mvo.pos_x pos_y = -data.mvo.pos_y pos_z = -data.mvo.pos_z if abs(pos_x) + abs(pos_y) + abs(pos_z) > 0.07: if self.ref_pos_x == -1: # First time we have meaningful values, we store them as reference self.ref_pos_x = pos_x self.ref_pos_y = pos_y self.ref_pos_z = pos_z else: self.pos_x = pos_x - self.ref_pos_x self.pos_y = pos_y - self.ref_pos_y self.pos_z = pos_z - self.ref_pos_z

    qx = data.imu.q1
    qy = data.imu.q2
    qz = data.imu.q3
    qw = data.imu.q0
    self.yaw = quarter_to_yaw_deg(qx, qy, qz, qw)`

I don't really understand what you did in this part. Thank you and best regards.