Hello, I have a simulated UAV with a lidar. When the UAV is performing sharp turns or tilts, the captured point cloud does not align with the reference frame, it does not correct/compensate the tilt of the UAV during this behaviour.

Further explanation: If the UAV looks downwards for a short time period during the turn, the point cloud is plotted as if the UAV is not tilted, resulting in walls and the ground being rotated and almost orthoganl to the real ground (that has been captured before and after the manover).

Thanks!