How to get the attitude data of the UAV in simscape ?

I used the simscape to simulate a drone with a regular icosahedral hull, and I tried to use Cartesian Joint and gimbal joint to get the position and the attitude of the drone, and port F of gimbal joint connects to the center of the drone.

now I can get some angle data ,

But this data is information about the angle of the drone relative to the ground coordinate system,

The problem is :Even if the drone is in the same attitude, the angle data can be different,

The attitude angle data relative to the coordinate system is a fixed value,so ,How can I get the attitude angle of the drone relative to its original coordinate system rather than relative to the ground coordinate system? Which joint should I use?

Answer 1

[Yifeng Tang]

I believe the most convenient way of measuring the position and orientation of a solid block is to use a transform sensor. It gives you the relative rotational and translational measurements between two frames. So you can use it to get the information between any two solid blocks or between any block and the ground frame.

https://www.mathworks.com/help/physmod/sm/ref/transformsensor.html