Using global velocity in body frame

@jverbeke wrote:

Hi,

I want to use the lateral (vy) velocity of my drone in body reference frame for outdoor application.
So basically flight speed left/right in m/s.

I see that I can get global velocities (North, East, Down) from:
const Vector3f &vel = inertial_nav.get_velocity()

But I need the local/body velocities, preferably fused with GPS, for a lateral speed prediction step used to filter sonar measurements for bad measurements.

Any ideas?

Cheers,

Jon

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