Question on Sentinel Body Frame Origin
-
I'm trying to set up a mocap system for the source of EV position estimates for the Sentinel. I'm assuming I need to align the rigid body pivot point generated by the mocap system with the origin of the body frame used by the EKF.
I was wondering if anyone knew what the best way to tie the body frame origin to a physical location on the Sentinel was. I was thinking I should use the EKF2_IMU_POS_X/Y/Z parameters, but I wasn't sure which of the two IMUs that parameter is pointing to.
Does anyone know which IMU is being referenced by the EKF2_IMU_POS parameters and would that be the best way of identifying the body frame origin w/rt a physical location or is there a better way to accomplish that?
Thanks
-
You can see the extrinsics measurements in /etc/modalai/extrinsics.conf
-
You can see the extrinsics measurements in /etc/modalai/extrinsics.conf
Hello! It looks like you're interested in this conversation, but you don't have an account yet.
Getting fed up of having to scroll through the same posts each visit? When you register for an account, you'll always come back to exactly where you were before, and choose to be notified of new replies (either via email, or push notification). You'll also be able to save bookmarks and upvote posts to show your appreciation to other community members.
With your input, this post could be even better 💗
Register Login