>>Question about Yaw calculation formula in nominalYawGps() about ginan

[seballgeyer]

Hello,

After investigating the code in question, the difference in how we calculate the yaw angle in our code compared to other open-source codes like groops/rtklib comes down to how we define the satellite's body reference frame. In our code, we assume that the -Z axis points toward the antenna/Earth, while in other codes, the convention is that the +Z axis points toward the antenna.

This difference affects how we calculate the yaw angle using the sun elevation angle and orbital angle. By adding an extra PI in our calculation, we adjust for this difference in reference frames. If we didn't make this adjustment, it could lead to inconsistencies in the yaw angle calculation and potentially affect the satellite's attitude, which could, in turn, impact the results obtained from the code, as the attitude is used for the PCO, PCV and phase windup.

If you have any further questions or concerns, please don't hesitate to reach out for clarification or additional information.