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Mayitzin / ahrs

Attitude and Heading Reference Systems in Python

Home Page:https://ahrs.readthedocs.io/

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Madgwick Reference Frame

bdeming155 opened this issue · comments

commented

@Mayitzin can you please tell me what rotation convention the output of the Madgwick filter represents and what reference frame it uses?

For example is it the rotation from the NED frame to the body frame? Is it the rotation from the body frame to the ENU frame? Left vs right hand coordinate system? I am having trouble figuring out what reference frame the output is in. Also some more documentation specifying this would be super helpful. Thanks!

commented

Hi, the reference frame used in Madgwick's is right-handed NED. I updated the information in the documentation with the commit 97609e0.

I hope this helps to clarify things.

commented

Thank you that clears things up!