From 3d61d5cd87ce9d6472a4a58fbfa42134708f3b51 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 6 Dec 2024 21:32:20 +0900
Subject: [PATCH] AP_Camera: camera-status-fov attitude in earth frame

---
 libraries/AP_Camera/AP_Camera_Backend.cpp | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Camera/AP_Camera_Backend.cpp b/libraries/AP_Camera/AP_Camera_Backend.cpp
index 696bd6481a330..6954c8b9e2cf2 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.cpp
+++ b/libraries/AP_Camera/AP_Camera_Backend.cpp
@@ -314,12 +314,17 @@ void AP_Camera_Backend::send_camera_fov_status(mavlink_channel_t chan) const
         mount->get_attitude_quaternion(get_mount_instance(), quat);
     }
 
+    // calculate attitude quaternion in earth frame using AHRS yaw
+    Quaternion quat_ef;
+    quat_ef.from_euler(0, 0, AP::ahrs().get_yaw());
+    quat_ef *= quat;
+
     // send camera fov status message only if the last calculated values aren't stale
     const float quat_array[4] = {
-        quat.q1,
-        quat.q2,
-        quat.q3,
-        quat.q4
+        quat_ef.q1,
+        quat_ef.q2,
+        quat_ef.q3,
+        quat_ef.q4
     };
     mavlink_msg_camera_fov_status_send(
         chan,