OTOS offset

[uecken]

I think this explanation and image is wrong.

Please tell me correct explanation and image.
I think below orange position and explanation is correct.

I want to check this, but my XRP with OTOS is not working now due to sparkfun/qwiic_otos_py#2
I also want to know the XRP body cordination. Forward is +x, Left is +y ?

[sfe-SparkFro]

Hi there,

The numbers in the text were not intended to relate to the image, but I can see how that is confusing! We'll see if we can make an edit to help clarify.

I also want to know the XRP body cordination. Forward is +x, Left is +y ?

You can define the XRP's body axes however you like! The images you referenced have +x to the right and +y forward, which is more intuitive for beginners to understand. However if you prefer +x to be forward and +y to the left, you can do that too! You'll just need to change any relevant coordinate definitions.

In the XRP images above, the sensor is mounted about 2 inches to the right and 4 inches forward of the center of the XRP. We mounted it such that +x of the OTOS was pointing to the right, and +y was pointing forward. I've listed the correct offset, depending on your XRP body axis definition:

• XRP body axes: +x right, +y forward
  • OTOS offset: {2, 4, 0}
• XRP body axes: +x forward, +y left
  • OTOS offset: {4, -2, -90}

Hope this helps!

[uecken]

Thank you, will try it.