From eec713d039e69ffefde23ad78822cf7ddb5422c9 Mon Sep 17 00:00:00 2001
From: RexBerry <59031902+RexBerry@users.noreply.github.com>
Date: Tue, 19 Nov 2024 18:19:37 -0600
Subject: [PATCH] Use gimbal rotation in camera parameters #29

---
 flight/camera.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/flight/camera.py b/flight/camera.py
index 72fe0397..965bb906 100644
--- 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,