ENU to NED: Where can the code be found?

NRottmann · May 10, 2017, 9:24am

Hi,

I have a question regarding the coordinate transformation from ROS to PX4, thus from the ENU coordinate system to the NED coordinate system. In which file can the code be found which does this transformation?

Best regards,
Nils

AlexisTM · May 10, 2017, 10:49am

Dear @NRottmann,

It is not related to PX4 (which works only in NED) but made by Mavros. You can find it in the mavros lib folder :

github.com

mavlink/mavros/blob/master/mavros/src/lib/ftf_frame_conversions.cpp

/**
 * @brief Frame conversions helper functions
 * @file uas_frame_conversions.cpp
 * @author Nuno Marques <n.marques21@hotmail.com>
 * @author Eddy Scott <scott.edward@aurora.aero>
 *
 * @addtogroup nodelib
 * @{
 */
/*
 * Copyright 2015 Nuno Marques.
 * Copyright 2016 Vladimir Ermakov
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

#include <mavros/frame_tf.h>

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NRottmann · May 10, 2017, 2:18pm

Dear @AlexisTM,

Thank you very much.

Best
Nils