Hi,

I am trying to use fusion library based K64F and Multi2-B to calculate the pitch and roll based on the reference of 0 YAW to see if the real measurement pitch and roll are accurate enough?

ex. I have pitch=30 degrees, roll=50 degrees @YAW=0, then, I want to calculate pitch & roll @ yaw=75 degrees. Is it possible to call any function in library to get these angles?

Thanks,

Christie

Assuming the Aerospace coordinate system, the sequence of Euler angle rotations is:

First, the yaw rotation which is about the vertical z axis

Second, the pitch rotation iabout the y axis

Third, the roll rotation about x axis.

I think you're referring to performing a fourth rotation about the z axis. The z axis was the yaw axis at the start of the rotation sequence but it's no longer the yaw axis as a result of the roll and pitch rotations.

To perform a fourth rotation about the z axis by angle psi, pre-multiply your orientation matrix R by the z axis rotation matrix Rz)psi) (equation 3 in AN5017) to obtain a new orientation matrix Rz.R:

Rz(psi)={cos(psi), sin(psi), 0}

{-sin(psi), cos(psi), 0}

{0, 0, 0}

From the new rotation matrix Rz.R you can extract the new Euler angles with a call to: fNEDAnglesDegFromRotationMatrix

Mark