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‫Welcome back.

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‫Now it's time to apply the three rotation mattresses that we had derived earlier.

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‫I have a question to you.

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‫If I tell you that the drone, with respect to the initial frame, is positioned with the coordinates

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‫of X equals five meters, Y equals three meters and Z equals minus seven meters.

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‫And the fi angle is zero point two radians, the theta angle is zero point three radians and the angle

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‫is zero point for radians.

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‫My question to you is, would you be able to describe the position and the attitude of the drone, both

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‫video for a second and try to think about it?

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‫The answer is no.

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‫You could determine the position of the drone, but now I have an exercise for you with regards to the

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‫attitude of the drone, and that exercise will help you understand why right now, at this point, you

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‫are not able to determine the attitude of the drone.

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‫Imagine that the inertial and body frames are completely aligned like this.

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‫First, rotate the body frame about the inertial frame axis in this order.

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‫First, rotate about the x axis by PI over to Radiance.

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‫This is your first rotation.

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‫Then rotate about the y axis by pi over to radians or ninety degrees.

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‫That's your second rotation.

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‫And then rotate about the Z axis by a pi over to radians and that's your third rotation and then do

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‫the same thing.

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‫But first rotate about the Z axis pi over to radians.

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‫That's your first rotation then about the Y axis prior to radians that's your second rotation and then

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‫pi over to radians about the x axis.

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‫And now this is your third rotation.

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‫Do this exercise and you will see the answers in the next video.

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‫See what you will get.

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‫Will the body frames end up in the same orientation or not?

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‫Thank you very much.