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added 10 commits
July 16, 2019 10:37
…leanup in the header file.
…messages we take the higher of the two rates.
… data the user is after. AHRS streams need to be enabled for both cases.
…Y swapped with Z inverted.
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This PR applies a patch to how the NED to ENU swap is done. As pointed out in issue #4 when applying the X & Y swap with Z inverted we get a problem of the orientation frame not matching the label of the actual device. This makes things difficult for a bit when setting up the device.
If the parameter
frame_based_enuis set to true, the quaternion orientation will match what is printed on the device label. This makes it much easier for setting up your transforms and also fixes the issue of accelerations not pointing in the same direction of the quaternion.The parameter
frame_based_enudefaults to false so technically no user will see a change unless they specify this to be true.