AP_Camera: camera-status-fov attitude in earth frame

ArduPilot · Dec 6, 2024 · 6001ecc · 6001ecc
1 parent 84cb9d5
commit 6001ecc
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/libraries/AP_Camera/AP_Camera_Backend.cpp b/libraries/AP_Camera/AP_Camera_Backend.cpp
@@ -314,6 +314,9 @@ void AP_Camera_Backend::send_camera_fov_status(mavlink_channel_t chan) const
         mount->get_attitude_quaternion(get_mount_instance(), quat);
     }
 
+    // rotate attitude quaternion to earth frame using AHRS yaw
+    quat.rotate(Vector3f(0, 0, AP::ahrs().get_yaw()));
+
     // send camera fov status message only if the last calculated values aren't stale
     const float quat_array[4] = {
         quat.q1,