Help with the frame conversion from earth frame to body frame in AC_attitude_control library, thanks!

Hi~

I am new to the attitude control method of arducopter codes. In the AC_attitude_control library,  in the function:

void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth

there is a frame conversion from earth frame to body frame:

 frame_conv

Read more…