Attitude control with rotation matrix

hello all,
I’m still newer to drones. I’m very interested in the attitude control of drones recently. There are corresponding codes in the function library for reference, but the method mentioned in it is about quaternions. I would like to ask you for advice. Is there a way to change this into a rotation matrix

You can convert between quaternions and rotation matrices, either using the libraries that come with PX4:

Or if you’re just on a companion computer, you can also just use libraries like Eigen.

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