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AeroQuad Coordinate System

The Relationship Between the AeroQuad Coordinate System and the Inertial Sensors

For those using AeroQuad shields in the standard installation orientation, this document will serve as information on what the AeroQuad coordinate system is, and how the sensors measure data in that coordinate system.

For those using Wii sensors which don’t have a well defined installation orientation, this document will serve as a roadmap to get the Wii sensors measuring correctly.

It will also be useful to those wanting to install AeroQuad shields in a non-standard orientation or integrate new sensors.

Coordinate System

This is the coordinate system introduced in AeroQuad Software release 2.3. It is known as a right hand coordinate system.

When pointing the fingers of your right hand along the positive X axis and rotating your palm toward the positive Y axis, your thumb will point in the positive Z direction.

Pointing your thumb along any axis in the positive direction and curling your fingers toward your palm defines the positive rotation direction.

The accelerometer measures accelerations along the linear X, Y, and Z axes, the rate gyros measure the rate of rotation around the X, Y, and Z axes. An attitude estimation algorithm, such as DCM, blends the accelerometer and rate gyro data together to give an estimation of the current vehicle attitude.


Figure 1 - AeroQuad Coordinate System, Software 2.3 and laterFigure 1 - AeroQuad Coordinate System, Software 2.3 and later

Figure 1 - AeroQuad Coordinate System, Software 2.3 and later
Figure 2 - Configurator Snapshot with Sensors Top Side UpFigure 2 - Configurator Snapshot with Sensors Top Side Up

Figure 2 - Configurator Snapshot with Sensors Top Side Up
Figure 3 - Configurator Snapshot with Sensors Top Side DownFigure 3 - Configurator Snapshot with Sensors Top Side Down

Figure 3 - Configurator Snapshot with Sensors Top Side Down
Figure 4 - Configurator Snapshot with Sensors Front Side DownFigure 4 - Configurator Snapshot with Sensors Front Side Down

Figure 4 - Configurator Snapshot with Sensors Front Side Down
Figure 5 - Configurator Snapshot with Sensors Rear Side DownFigure 5 - Configurator Snapshot with Sensors Rear Side Down

Figure 5 - Configurator Snapshot with Sensors Rear Side Down
Figure 6 - Configurator Snapshot with Sensors Right Side DownFigure 6 - Configurator Snapshot with Sensors Right Side Down

Figure 6 - Configurator Snapshot with Sensors Right Side Down
Figure 7 - Configurator Snapshot with Sensors Left Side DownFigure 7 - Configurator Snapshot with Sensors Left Side Down

Figure 7 - Configurator Snapshot with Sensors Left Side Down
Figure 8 - Configurator Snapshot with Roll Doublet - 45 degrees right roll, 45 degrees left rollFigure 8 - Configurator Snapshot with Roll Doublet - 45 degrees right roll, 45 degrees left roll

Figure 8 - Configurator Snapshot with Roll Doublet - 45 degrees right roll, 45 degrees left roll
Figure 9 - Configurator Snapshot with Pitch Doublet - 45 degrees nose up, 45 degrees nose downFigure 9 - Configurator Snapshot with Pitch Doublet - 45 degrees nose up, 45 degrees nose down

Figure 9 - Configurator Snapshot with Pitch Doublet - 45 degrees nose up, 45 degrees nose down
Figure 10 - Configurator Snapshot with Yaw Doublet - 45 degrees right yaw, 45 degrees left yawFigure 10 - Configurator Snapshot with Yaw Doublet - 45 degrees right yaw, 45 degrees left yaw

Figure 10 - Configurator Snapshot with Yaw Doublet - 45 degrees right yaw, 45 degrees left yaw
Figure 11 - Configurator Snapshot with 45 degrees Right Roll AttitudeFigure 11 - Configurator Snapshot with 45 degrees Right Roll Attitude

Figure 11 - Configurator Snapshot with 45 degrees Right Roll Attitude
Figure 12 - Configurator Snapshot with 45 degrees Nose Up AttitudeFigure 12 - Configurator Snapshot with 45 degrees Nose Up Attitude

Figure 12 - Configurator Snapshot with 45 degrees Nose Up Attitude
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