Rotated SLAM pose

[DanielRoeder1]

In the readme it is outlined that the rotated SLAM pose is created to account for the slightly downward-facing camera angle (i.e 12 degrees).

Looking at the code in the tello_slam_control.py a rotation around the Y-axis is performed to account for this.

self.rotated_pos.x = self.slam_pos.x * math.cos(self.angle_radian) + self.slam_pos.z * math.sin(self.angle_radian)
self.rotated_pos.y = self.slam_pos.y
self.rotated_pos.z = self.slam_pos.x * (-math.sin(self.angle_radian)) + self.slam_pos.z * math.cos(self.angle_radian)

From my understanding, this should be a rotation around the X-axis instead?

[AnaRhisT94]

In the readme it is outlined that the rotated SLAM pose is created to account for the slightly downward-facing camera angle (i.e 12 degrees).

Looking at the code in the tello_slam_control.py a rotation around the Y-axis is performed to account for this.

self.rotated_pos.x = self.slam_pos.x * math.cos(self.angle_radian) + self.slam_pos.z * math.sin(self.angle_radian)
self.rotated_pos.y = self.slam_pos.y
self.rotated_pos.z = self.slam_pos.x * (-math.sin(self.angle_radian)) + self.slam_pos.z * math.cos(self.angle_radian)

From my understanding, this should be a rotation around the X-axis instead?

Hi,
Any ideas how to solve my current issue? (Tello's camera doesn't show up in the viewer)
[https://github.com//issues/15]