Revision history [back]

A couple things.

Have you tried mounting your IMU neutrally on a table and doing a time tf transform using the NED->ENU transform you describe? It's been literally years, but I recall that I consistently was getting something like a roll of -180 degrees when we applied that transform.

While I wrote r_l to be as generic as possible, it was developed under a specific contract, and there is almost certainly some code floating around in there which ended up working for us at the time, but is unorthodox (and in this case, probably wrong). It looks like I was turning the transform into separate Euler component offsets and applying them to the measurement separately. That doesn't look right to my more experienced eyes, either, but if it's there, it's because we tried the method one would expect, and it didn't behave as we expected, and we had a deadline to worry about. :)

My recommendation would be to first do some simple experiments to see if the transform you describe works (outside of r_l.) I'd be happy to accept a PR that handles those IMU rotations better.

A couple things.

Have you tried mounting your IMU neutrally on a table and doing a time tf transform using the NED->ENU transform you describe? It's been literally years, but I recall that I consistently was getting something like a roll of -180 degrees when we applied that transform.

While I wrote r_l to be as generic as possible, it was developed under a specific contract, and there is almost certainly some code floating around in there which ended up working for us at the time, but is unorthodox (and in this case, probably wrong). It looks like I was turning the transform into separate Euler component offsets and applying them to the measurement separately. That doesn't look right to my more experienced eyes, either, but if it's there, it's because we tried the method one would expect, and it didn't behave as we expected, and we had a deadline to worry about. :)

My recommendation would be to first do some simple experiments to see if the transform you describe works (outside of r_l.) I'd be happy to accept a PR that handles those IMU rotations better.