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I am working on a project that requires me to extract/compute the orientation of the CAMERA in the world coordinate system. I have gone through the documentation (Flight Control, etc) but I am unable to understand the following:

What is the difference between Flight Angles (FlightYaw/FlightPitch/FlightRoll) and GimbalYaw/GimbalPitch/GimbalRoll?

This is my current understanding but it does not seem correct: Flight Angles:

  • The Yaw angle seems to be the orientation of the CAMERA in the world coordinate system.
  • Pitch and Roll seem to be the orientation of the DRONE in the world's coordinate system.

Gimbal Angles: The angles of the CAMERA in the body coordinate system.

  • This seems to be the case for pitch and roll but the yaw value sometimes does not follow this from the looks of it (In some cases the Gimbal Yaw is almost identical to the Flight Yaw and it doesn't make sense when I use Google Earth to verify what the orientation should be rough - In these cases, the flight yaw seemingly gives the absolute orientation of the CAMERA in the world coordinate system)

I have been stuck on this and going through countless forum posts as well as documentation to seek clarification with no success. I hope someone can clear things up for me and outline what Gimbal vs Flight Angle. Most importantly, I want to be able to calculate the orientation of the CAMERA in the world coordinate systems.

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