Actually, I am in the process of developing the low-level controller for my tilt-rotor tricopter. Regarding that, I would like to get the feedback of the attitude angles in the Body frame. From my intuition, I thought that the feedback of orientation in /mavros/imu/data topic would be in the Body frame, but to my surprise, the orientation feedback is in the global ENU frame. Is there any way to get the feedback of the attitude angle in Body frame right away?
Thanks in advance for your help!