Why it use (0.0f, 0.0f, 1.0f) to correct quaternion instead of (0.0f, 0.0f, -1.0f)

1

NED coordinate system is used in PX4. So acceleration is [0, 0, -9.8] when the drone is horizontal.
Why it use (0.0f, 0.0f, 1.0f) to correct quaternion instead of (0.0f, 0.0f, -1.0f)

code in attitude_estimator_q

attitude_estimator_q.png744×252 9.18 KB

Thanks for your help

2

I guess because NED is North (x), East (y) Down (z). Therefore, the acceleration is (0, 0, 9.81)