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Fix quaternions to roll, pitch, yaw angles #45

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Fix quaternions to roll, pitch, yaw angles #45

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15 changes: 8 additions & 7 deletions px4tools/ulog.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@
import pyulog
import scipy.signal
import transforms3d.quaternions as quat
import transforms3d.taitbryan as tf
import transforms3d.euler as tf

# create index to state lookup for estimators
EST_NAME = {
Expand Down Expand Up @@ -486,14 +486,15 @@ def series_quatrot_inverse(x, y, z, q0, q1, q2, q3, rot_name):

def series_quat2euler(q0, q1, q2, q3, msg_name):
"""
Given pandas series q0-q4, compute series roll, pitch, yaw
Given pandas series q0-q3, compute series roll, pitch, yaw
"""
yaw, pitch, roll = np.array([
tf.quat2euler([q0i, q1i, q2i, q3i]) for
q0i, q1i, q2i, q3i in zip(q0, q1, q2, q3)]).T
yaw = pd.Series(name=msg_name + '__f_yaw', data=yaw, index=q0.index)
pitch = pd.Series(name=msg_name + '__f_pitch', data=pitch, index=q0.index)
roll, pitch, yaw = np.array([
tf.quat2euler([q0i, q1i, q2i, q3i], axes='sxyz') for
q0i, q1i, q2i, q3i in zip(q0, q1, q2, q3)]).T
roll = pd.Series(name=msg_name + '__f_roll', data=roll, index=q0.index)
pitch = pd.Series(name=msg_name + '__f_pitch', data=pitch, index=q0.index)
yaw = pd.Series(name=msg_name + '__f_yaw', data=yaw, index=q0.index)

return roll, pitch, yaw


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