Rewrite the CF2 coordinate system explanation#266
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The page claimed the global frame is ENU. There is no compass, so global X is not East: it is set by the positioning system's calibration, or by the drone's heading at initialization. Replace the ENU claim with how each frame is actually established, and describe the body frame directly. Spell out the roll/pitch/yaw sign conventions with a physical consequence for each, and document that attitude.pitch has the opposite sign to the pitch encoded in the estimator's quaternion (kalman_core.c negates it on report, sensfusion6.c does the same). Converting between the two in either direction requires negating the pitch.
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The page claimed the global frame is ENU. There is no compass, so global X is not East: it is set by the positioning system's calibration, or by the drone's heading at initialization. Replace the ENU claim with how each frame is actually established, and describe the body frame directly.
Spell out the roll/pitch/yaw sign conventions with a physical consequence for each, and document that attitude.pitch has the opposite sign to the pitch encoded in the estimator's quaternion (kalman_core.c negates it on report, sensfusion6.c does the same). Converting between the two in either direction requires negating the pitch.