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Fixed fix #1

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Fixed fix #1

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070e71f
the fix we applied upon the original fix
EyedBread Sep 13, 2023
26b055c
removed comments
EyedBread Sep 13, 2023
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18 changes: 10 additions & 8 deletions src/message_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -565,9 +565,10 @@ const sbg_driver::SbgEkfEuler MessageWrapper::createSbgEkfEulerMessage(const Sbg

if (m_use_enu_)
{
ekf_euler_message.angle.x = ref_log_ekf_euler.euler[1];
ekf_euler_message.angle.y = ref_log_ekf_euler.euler[0];
ekf_euler_message.angle.z = wrapAngle2Pi((SBG_PI_F / 2.0f) - ref_log_ekf_euler.euler[2]);
ekf_euler_message.angle.x = ref_log_ekf_euler.euler[0]; // Roll remains the same
ekf_euler_message.angle.y = -ref_log_ekf_euler.euler[1]; // Pitch is inverted
ekf_euler_message.angle.z = wrapAngle2Pi((SBG_PI_F / 2.0f) - ref_log_ekf_euler.euler[2]); // Yaw is subtracted from π/2 and then wrapped

}
else
{
Expand Down Expand Up @@ -809,8 +810,9 @@ const sbg_driver::SbgImuData MessageWrapper::createSbgImuDataMessage(const SbgLo
imu_data_message.delta_vel.y = ref_log_imu_data.deltaVelocity[0];
imu_data_message.delta_vel.z = -ref_log_imu_data.deltaVelocity[2];

imu_data_message.delta_angle.x = ref_log_imu_data.deltaAngle[1];
imu_data_message.delta_angle.y = ref_log_imu_data.deltaAngle[0];
// CORRECTED
imu_data_message.delta_angle.x = ref_log_imu_data.deltaAngle[0];
imu_data_message.delta_angle.y = -ref_log_imu_data.deltaAngle[1];
imu_data_message.delta_angle.z = -ref_log_imu_data.deltaAngle[2];
}
else
Expand Down Expand Up @@ -994,9 +996,9 @@ const sbg_driver::SbgImuShort MessageWrapper::createSbgImuShortMessage(const Sbg
imu_short_message.delta_velocity.x = ref_short_imu_log.deltaVelocity[1];
imu_short_message.delta_velocity.y = ref_short_imu_log.deltaVelocity[0];
imu_short_message.delta_velocity.z = -ref_short_imu_log.deltaVelocity[2];

imu_short_message.delta_angle.x = ref_short_imu_log.deltaAngle[1];
imu_short_message.delta_angle.y = ref_short_imu_log.deltaAngle[0];
imu_short_message.delta_angle.x = ref_short_imu_log.deltaAngle[0];
imu_short_message.delta_angle.y = -ref_short_imu_log.deltaAngle[1];
imu_short_message.delta_angle.z = -ref_short_imu_log.deltaAngle[2];
}
else
Expand Down