Fix roll, pitch and yaw: NED formula was applied to an ENU quaternion - #286
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Fix roll, pitch and yaw: NED formula was applied to an ENU quaternion#2861-Bart-1 wants to merge 2 commits into
1-Bart-1 wants to merge 2 commits into
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Q_b_to_w is ENU, but the Euler angles were computed with a NED aerospace formula, so they were not the angles any sensor or controller reports. At zenith, nose north, wings level, yaw came out as -90 degrees where the answer is zero. KiteUtils.euler_ks converts the KA attitude to KS first, which is the convention roll, pitch and yaw are defined in. ss.orient needs no conversion: KiteUtils 0.13 stores KA, which is what Q_b_to_w already is. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
KiteUtils 0.13 dropped the fields: they were the same orientation the quaternion already holds, and keeping them kept a second convention in the state. euler_ks(ss.orient) reports them, still against NED. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
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wing.Q_b_to_wis ENU, butupdate_sys_state!computedss.roll/pitch/yawfrom it with a NED aerospace formula. The result was not the angles any sensor or controller reports.Measured, kite at zenith with the nose north and wings level:
KiteUtils.euler_ksconverts theKAattitude toKSfirst, which is the convention roll, pitch and yaw are defined in — against NED, because that is what the sensors deliver.ss.orientneeds no conversion: KiteUtils 0.13 storesKA, which is whatQ_b_to_walready is. SAM was the package that already had this right.Depends on OpenSourceAWE/KiteUtils.jl#130 for
euler_ks; compat bound raised to0.13, so this cannot merge before that release.Three reference attitudes are pinned in KiteUtils'
test-frames.jl.🤖 Generated with Claude Code