1 files changed, 0 insertions, 135 deletions
diff --git a/mavlink/include/mavlink/v1.0/mavlink_conversions.h b/mavlink/include/mavlink/v1.0/mavlink_conversions.h
deleted file mode 100644
index 51afac87c..000000000
--- a/mavlink/include/mavlink/v1.0/mavlink_conversions.h
+++ /dev/null
@@ -1,135 +0,0 @@
-#ifndef  _MAVLINK_CONVERSIONS_H_
-#define  _MAVLINK_CONVERSIONS_H_
-
-/* enable math defines on Windows */
-#ifdef _MSC_VER
-#ifndef _USE_MATH_DEFINES
-#define _USE_MATH_DEFINES
-#endif
-#endif
-#include <math.h>
-
-#ifndef M_PI_2
-    #define M_PI_2 ((float)asin(1))
-#endif
-
-/**
- * @file mavlink_conversions.h
- *
- * These conversion functions follow the NASA rotation standards definition file
- * available online.
- *
- * Their intent is to lower the barrier for MAVLink adopters to use gimbal-lock free
- * (both rotation matrices, sometimes called DCM, and quaternions are gimbal-lock free)
- * rotation representations. Euler angles (roll, pitch, yaw) will be phased out of the
- * protocol as widely as possible.
- *
- * @author James Goppert
- */
-
-MAVLINK_HELPER void mavlink_quaternion_to_dcm(const float quaternion[4], float dcm[3][3])
-{
-    double a = quaternion[0];
-    double b = quaternion[1];
-    double c = quaternion[2];
-    double d = quaternion[3];
-    double aSq = a * a;
-    double bSq = b * b;
-    double cSq = c * c;
-    double dSq = d * d;
-    dcm[0][0] = aSq + bSq - cSq - dSq;
-    dcm[0][1] = 2.0 * (b * c - a * d);
-    dcm[0][2] = 2.0 * (a * c + b * d);
-    dcm[1][0] = 2.0 * (b * c + a * d);
-    dcm[1][1] = aSq - bSq + cSq - dSq;
-    dcm[1][2] = 2.0 * (c * d - a * b);
-    dcm[2][0] = 2.0 * (b * d - a * c);
-    dcm[2][1] = 2.0 * (a * b + c * d);
-    dcm[2][2] = aSq - bSq - cSq + dSq;
-}
-
-MAVLINK_HELPER void mavlink_dcm_to_euler(const float dcm[3][3], float* roll, float* pitch, float* yaw)
-{
-    float phi, theta, psi;
-    theta = asin(-dcm[2][0]);
-
-    if (fabsf(theta - (float)M_PI_2) < 1.0e-3f) {
-        phi = 0.0f;
-        psi = (atan2f(dcm[1][2] - dcm[0][1],
-                dcm[0][2] + dcm[1][1]) + phi);
-
-    } else if (fabsf(theta + (float)M_PI_2) < 1.0e-3f) {
-        phi = 0.0f;
-        psi = atan2f(dcm[1][2] - dcm[0][1],
-                  dcm[0][2] + dcm[1][1] - phi);
-
-    } else {
-        phi = atan2f(dcm[2][1], dcm[2][2]);
-        psi = atan2f(dcm[1][0], dcm[0][0]);
-    }
-
-    *roll = phi;
-    *pitch = theta;
-    *yaw = psi;
-}
-
-MAVLINK_HELPER void mavlink_quaternion_to_euler(const float quaternion[4], float* roll, float* pitch, float* yaw)
-{
-    float dcm[3][3];
-    mavlink_quaternion_to_dcm(quaternion, dcm);
-    mavlink_dcm_to_euler(dcm, roll, pitch, yaw);
-}
-
-MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float yaw, float quaternion[4])
-{
-    double cosPhi_2 = cos((double)roll / 2.0);
-    double sinPhi_2 = sin((double)roll / 2.0);
-    double cosTheta_2 = cos((double)pitch / 2.0);
-    double sinTheta_2 = sin((double)pitch / 2.0);
-    double cosPsi_2 = cos((double)yaw / 2.0);
-    double sinPsi_2 = sin((double)yaw / 2.0);
-    quaternion[0] = (cosPhi_2 * cosTheta_2 * cosPsi_2 +
-            sinPhi_2 * sinTheta_2 * sinPsi_2);
-    quaternion[1] = (sinPhi_2 * cosTheta_2 * cosPsi_2 -
-            cosPhi_2 * sinTheta_2 * sinPsi_2);
-    quaternion[2] = (cosPhi_2 * sinTheta_2 * cosPsi_2 +
-            sinPhi_2 * cosTheta_2 * sinPsi_2);
-    quaternion[3] = (cosPhi_2 * cosTheta_2 * sinPsi_2 -
-            sinPhi_2 * sinTheta_2 * cosPsi_2);
-}
-
-MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quaternion[4])
-{
-    quaternion[0] = (0.5 * sqrt(1.0 +
-            (double)(dcm[0][0] + dcm[1][1] + dcm[2][2])));
-    quaternion[1] = (0.5 * sqrt(1.0 +
-            (double)(dcm[0][0] - dcm[1][1] - dcm[2][2])));
-    quaternion[2] = (0.5 * sqrt(1.0 +
-            (double)(-dcm[0][0] + dcm[1][1] - dcm[2][2])));
-    quaternion[3] = (0.5 * sqrt(1.0 +
-            (double)(-dcm[0][0] - dcm[1][1] + dcm[2][2])));
-}
-
-MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, float dcm[3][3])
-{
-    double cosPhi = cos(roll);
-    double sinPhi = sin(roll);
-    double cosThe = cos(pitch);
-    double sinThe = sin(pitch);
-    double cosPsi = cos(yaw);
-    double sinPsi = sin(yaw);
-
-    dcm[0][0] = cosThe * cosPsi;
-    dcm[0][1] = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
-    dcm[0][2] = sinPhi * sinPsi + cosPhi * sinThe * cosPsi;
-
-    dcm[1][0] = cosThe * sinPsi;
-    dcm[1][1] = cosPhi * cosPsi + sinPhi * sinThe * sinPsi;
-    dcm[1][2] = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi;
-
-    dcm[2][0] = -sinThe;
-    dcm[2][1] = sinPhi * cosThe;
-    dcm[2][2] = cosPhi * cosThe;
-}
-
-#endif