Sensor to Vehicle Frame Transformation Quaternion (0x0C,0x32)

Note: This is the transformation, the inverse of the rotation.

This quaternion describes the transformation of vectors from the sensor body frame to the vehicle frame of reference, and satisfies the following relationship:

Where:
is the quaternion describing the transformation.
and is a 3-element vector expressed in the sensor body frame.
and is a 3-element vector expressed in the vehicle frame.

The transformation may be stored in the device as a matrix or a quaternion. When the quaternion is read back from the device, it may not be exactly equal to the quaternion used to set the transformation, but it is functionally equivalent.


This transformation affects the following output quantities:

IMU:
Scaled Acceleration
Scaled Gyro
Scaled Magnetometer
Delta Theta
Delta Velocity


Estimation Filter:
Estimated Orientation, Quaternion
Estimated Orientation, Matrix
Estimated Orientation, Euler Angles
Estimated Linear Acceleration
Estimated Angular Rate
Estimated Gravity Vector

Changing this setting will force all low-pass filters, the complementary filter, and the estimation filter to reset.