Drone movement in NED start basis

ANAFI Ai
1

Hi,

I’d like to know how to make the drone move right, left, front and back relatively to itself using the estimated attitude quaternion of the drone in NED_start basis. Is it possible to set velocities along these axes : Glossary - 7.7 ? Do I have to use the yaw offset provided in telemetry ?
I’ve made things work in NED basis but I’d like to make it work in NED_start basis to avoid yaw jumps.

Any help would be much appreciated !

Thanks,
Eliott

2

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