IMU + magnetometer orientation. Is y in the orientation supposed to be 0 when facing north?

asked 2021-02-11 05:10:22 -0500

Gherkins gravatar image

updated 2021-02-11 08:20:58 -0500

So I'm using the UM7 IMU which comes with a magnetometer. It produces a imu message on the imu/data topic. The IMU produces data in NED format but the driver transforms it to ENU and publishes the orientation as a quaternion.

Am I correct that when reading the topic, the y value of the quaternion should read (around) 0 when it's pointing to north?

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