Use gimbal rotation in camera parameters #29

MissouriMRR · Nov 20, 2024 · eec713d · eec713d
1 parent 79473e7
commit eec713d
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/flight/camera.py b/flight/camera.py
@@ -316,9 +316,9 @@ async def _get_camera_parameters(self, drone: dronekit.Vehicle) -> CameraParamet
         location: dronekit.LocationGlobalRelative = drone.location.global_relative_frame
 
         attitude: dronekit.Attitude = drone.attitude
-        roll_deg: float = math.degrees(attitude.roll)
-        pitch_deg: float = math.degrees(attitude.pitch)
-        yaw_deg: float = math.degrees(attitude.yaw)
+        roll_deg: float = math.degrees(attitude.roll) - drone.gimbal.roll
+        pitch_deg: float = math.degrees(attitude.pitch) - drone.gimbal.pitch
+        yaw_deg: float = math.degrees(attitude.yaw) - drone.gimbal.yaw
 
         return {
             "focal_length": 24,