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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-29 16:21:59 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-29 16:21:59 +0100 |
| commit | 4976a3a47d9ed368734135df04ad67634c39c65d (patch) | |
| tree | fbbc6b028ee1699a3938aaf859934ea415300996 /apps/systemlib/conversions.h | |
| parent | 1fc0a6546e30cfc913de8c0c03cfc625fba5d2ae (diff) | |
| download | px4-firmware-4976a3a47d9ed368734135df04ad67634c39c65d.tar.gz px4-firmware-4976a3a47d9ed368734135df04ad67634c39c65d.tar.bz2 px4-firmware-4976a3a47d9ed368734135df04ad67634c39c65d.zip | |
Added accel magnitude check, added conversion functions for various standard cases
Diffstat (limited to 'apps/systemlib/conversions.h')
| -rw-r--r-- | apps/systemlib/conversions.h | 22 |
1 files changed, 22 insertions, 0 deletions
diff --git a/apps/systemlib/conversions.h b/apps/systemlib/conversions.h index dc383e770..3a24ca9b7 100644 --- a/apps/systemlib/conversions.h +++ b/apps/systemlib/conversions.h @@ -44,6 +44,8 @@ #include <float.h> #include <stdint.h> +#define CONSTANTS_ONE_G 9.80665f + __BEGIN_DECLS /** @@ -56,6 +58,26 @@ __BEGIN_DECLS */ __EXPORT int16_t int16_t_from_bytes(uint8_t bytes[]); +/** + * Converts a 3 x 3 rotation matrix to an unit quaternion. + * + * All orientations are expressed in NED frame. + * + * @param R rotation matrix to convert + * @param Q quaternion to write back to + */ +__EXPORT void rot2quat(const float R[9], float Q[4]); + +/** + * Converts an unit quaternion to a 3 x 3 rotation matrix. + * + * All orientations are expressed in NED frame. + * + * @param Q quaternion to convert + * @param R rotation matrix to write back to + */ +__EXPORT void quat2rot(const float Q[4], float R[9]); + __END_DECLS #endif /* CONVERSIONS_H_ */ |