From 963df7b71302e471cc075af3234e051f2968c923 Mon Sep 17 00:00:00 2001 From: HP99 Date: Wed, 13 Dec 2023 19:13:28 +0100 Subject: [PATCH] fix yaw conversion from quat in cmd_full_state in crazyflie_sim/crazyflie_server (#382) --- crazyflie_sim/crazyflie_sim/crazyflie_server.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_server.py b/crazyflie_sim/crazyflie_sim/crazyflie_server.py index 8c3364e83..0d05fede7 100755 --- a/crazyflie_sim/crazyflie_sim/crazyflie_server.py +++ b/crazyflie_sim/crazyflie_sim/crazyflie_server.py @@ -326,7 +326,7 @@ def _cmd_full_state_changed(self, msg, name): msg.pose.orientation.x, msg.pose.orientation.y, msg.pose.orientation.z] - rpy = rowan.to_euler(q) + rpy = rowan.to_euler(q, convention='xyz') self.cfs[name].cmdFullState( [msg.pose.position.x, msg.pose.position.y, msg.pose.position.z],