fixed yaw problems in setponit_raw and setponit_position when using BODY_NED and BODY_OFFSET_NED #1537
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@zhouzhiwen2000 please also squash your commits into one or two logically different. |
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… frames and fix problems with yaw in setponit_raw
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When sending yaw in BODY_NED frame using setponit_raw, not only is there a 90° offset but the direction is also reversed.
When sending yaw in BODY_NED frame using setponit_position, the direction is reversed.
The yaw is supposed to follow the 'FLU' convention in ROS, thus, a positive angle would be from F to L(anticlockwise).
The changes made should fix both problems.
They were both tested and worked as expected.