Comments (2)
z1047941150
commented on July 24, 2024
两两相乘我能理解，比如imu.q * odom.q.inverse()，就是把的odom姿态表示在imu姿态坐标下，但是三个相乘，我就有点懵了
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z1047941150
commented on July 24, 2024
因为飞控的姿态是以imu为准的，而odom和imu肯定是有个差值的，期望的位姿（des）是在odom基础上得来的。所以再下发给飞控的时候，我们需要先把期望姿态变到imu坐标下。
解决喽~~~
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Related Issues (20)
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