Spacecraft rotated around the wrong axes

[MStefan99]

Hello,

It seems like the model in the mavsim_simulink/chap2/drawSpacecraft.m is rotated around the wrong axes. In the provided file, the model is always rotated around the axes of inertial system (k^v, j^v and i^v), however yaw, pitch and roll are defined as rotations around the axes k^v, j^v1 and i^v2, respectively. As an example, if you add a yaw angle followed by pitch, you will observe the model rolling even if a roll angle is set to zero (see example below).

Is this the intended behavior?

Thank you.

[kingdom-l]

I solved. In mavsim_simulink/chap2/drawSpacecraft.m , there is an error in the function XYZ=rotate(XYZ,phi,theta,psi) . It should be R = R_yaw * R_pitch * R_roll, instead of R = R_roll * R_pitch * R_yaw;