I am trying to model my quadcopter using the Euler's Equations. To get the accelerations and angular speeds, I am using an accelerometer along with a Gyro.
My question is, for a specific flight data sample, are the angular velocities in Euler's Equation above simply the raw angular speeds I get from the gyro around the x, y, and z-axes respectively?
In this project, it can be seen under "Kinematics" section, that the author uses some sort of a matrix to transform from the angular speed to the angular velocity!
So what is the right way to do it?
Replies
So to answer my question, and to be more specific, I am using the gyro on an Android phone, which returns the angular velocities that the Euler's equation involve. So the answer is yes.
The author of the above project is using a matrix to convert from Euler's rate vector to angular velocity vector.
I hope this helps somebody one day