I am using ekf2 from v1.7.3, and I found that the roll and pitch estimations are wrong.
The roll output should be pitch, and verse visa. I also tried the attitude_estimator_q module, and it has correct roll and pitch
The IMU, mag is proved to be correct after calibration.
I placed the quadcopter on the roughly flat table.
Then I sequentially move the quadcopter in roll, pitch and yaw direction.
The gyro data:
The acc data:
The estimated result from ekf2:
The correct estimation of attitude from attitude_estimator_q:
I wonder if there is any something like board rotation params in ekf2.
And another question is that why the orientation of the orientation of a downface distance sensor is 25, i.e. MAV_SENSOR_ROTATION_PITCH_270??
Thanks in advance.