Freefly ALTA - Page 103

103| USER MANUAL
IMU Acceleration
Z
G
The IMU derived body acceleration
where positive values are in an upwards
direction and excludes gravity
Compass X Unitless
A component of a unit magnetic vector
with positive values directed to the
front when front is pointing Northward
Compass Y Unitless
A component of a unit magnetic vector
with positive values directed to the
right when front is pointing Westward
Compass Z Unitless
A component of a unit magnetic
vector with positive values directed
to down when the underside
is pointing Northward
Position
Command North
m
The position control loop set
point in a Northerly direction
referenced to take-off location
Position
Command East
m
The position control loop set
point in an Easterly direction
referenced to take-off location
Position
Command Up
m
The position control loop set point
in an Upwards direction referenced
to the take-off location
Velocity Command
North
m/s
The velocity control loop set point
in an Northwards direction
Velocity
Command East
m/s
The velocity control loops set
point in an Eastwards direction
Velocity
Command Up
m/s
The velocity control loop set
point in an Upwards direction
Acceleration
Command East
m/s^2
The acceleration control loop set
point in a Easterly direction
Acceleration
Command North
m/s^2
The acceleration control loop set
point in a Northerly direction
Acceleration
Command Up
m/s^2
The acceleration control loop set
point in an Upwards direction
Roll Command deg
The roll control loop set point where
increasing values are roll right right
Pitch Command deg
The pitch control loop set point where
increasing values are pitch up
Yaw Command deg
The yaw control loop set point where
positive values are for an Easterly
heading and negative for Westerly