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How to get the angles from the ardupilot?

Posted by Remco Vink on January 16, 2013 at 5:32am

For a school project we are looking at using an ardupilot for a self stabilizing/horizontalizing board. Initially we will start with single-axis stabilization, like a seesaw or weighing scale. But for that we need to get the angles data from the Ardupilot board. 

With the mission planner software we get the correct orientation. But where can we find the roll and pitch values in the source code?

We are using an APM 2.5

Thanks in advance.

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Replies

  • Søren Kuula January 17, 2013 at 4:28pm

    Hi,

    in AP_AHRS.h:

        // Euler angles (radians)
        float roll;
        float pitch;
        float yaw;

        // integer Euler angles (Degrees * 100)
        int32_t roll_sensor;
        int32_t pitch_sensor;
        int32_t yaw_sensor;

    Regards

    Soren

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