From fdf1c712b163deace14dfd8c74a6b1afac6262fb Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 11 Jan 2013 07:47:22 +0100 Subject: Fixed code style for conversions --- apps/systemlib/conversions.c | 169 ++++++++++++++++++++++--------------------- 1 file changed, 86 insertions(+), 83 deletions(-) diff --git a/apps/systemlib/conversions.c b/apps/systemlib/conversions.c index b08b9fc69..fed97f101 100644 --- a/apps/systemlib/conversions.c +++ b/apps/systemlib/conversions.c @@ -62,94 +62,97 @@ int16_t_from_bytes(uint8_t bytes[]) void rot2quat(const float R[9], float Q[4]) { - float q0_2; - float q1_2; - float q2_2; - float q3_2; - int32_t idx; - - /* conversion of rotation matrix to quaternion - * choose the largest component to begin with */ - q0_2 = (((1.0F + R[0]) + R[4]) + R[8]) / 4.0F; - q1_2 = (((1.0F + R[0]) - R[4]) - R[8]) / 4.0F; - q2_2 = (((1.0F - R[0]) + R[4]) - R[8]) / 4.0F; - q3_2 = (((1.0F - R[0]) - R[4]) + R[8]) / 4.0F; - - idx = 0; - - if (q0_2 < q1_2) { - q0_2 = q1_2; - - idx = 1; - } - - if (q0_2 < q2_2) { - q0_2 = q2_2; - idx = 2; - } - - if (q0_2 < q3_2) { - q0_2 = q3_2; - idx = 3; - } - - q0_2 = sqrtf(q0_2); - - /* solve for the remaining three components */ - if (idx == 0) { - q1_2 = q0_2; - q2_2 = (R[5] - R[7]) / 4.0F / q0_2; - q3_2 = (R[6] - R[2]) / 4.0F / q0_2; - q0_2 = (R[1] - R[3]) / 4.0F / q0_2; - } else if (idx == 1) { - q2_2 = q0_2; - q1_2 = (R[5] - R[7]) / 4.0F / q0_2; - q3_2 = (R[3] + R[1]) / 4.0F / q0_2; - q0_2 = (R[6] + R[2]) / 4.0F / q0_2; - } else if (idx == 2) { - q3_2 = q0_2; - q1_2 = (R[6] - R[2]) / 4.0F / q0_2; - q2_2 = (R[3] + R[1]) / 4.0F / q0_2; - q0_2 = (R[7] + R[5]) / 4.0F / q0_2; - } else { - q1_2 = (R[1] - R[3]) / 4.0F / q0_2; - q2_2 = (R[6] + R[2]) / 4.0F / q0_2; - q3_2 = (R[7] + R[5]) / 4.0F / q0_2; - } - - /* return values */ - Q[0] = q1_2; - Q[1] = q2_2; - Q[2] = q3_2; - Q[3] = q0_2; + float q0_2; + float q1_2; + float q2_2; + float q3_2; + int32_t idx; + + /* conversion of rotation matrix to quaternion + * choose the largest component to begin with */ + q0_2 = (((1.0F + R[0]) + R[4]) + R[8]) / 4.0F; + q1_2 = (((1.0F + R[0]) - R[4]) - R[8]) / 4.0F; + q2_2 = (((1.0F - R[0]) + R[4]) - R[8]) / 4.0F; + q3_2 = (((1.0F - R[0]) - R[4]) + R[8]) / 4.0F; + + idx = 0; + + if (q0_2 < q1_2) { + q0_2 = q1_2; + + idx = 1; + } + + if (q0_2 < q2_2) { + q0_2 = q2_2; + idx = 2; + } + + if (q0_2 < q3_2) { + q0_2 = q3_2; + idx = 3; + } + + q0_2 = sqrtf(q0_2); + + /* solve for the remaining three components */ + if (idx == 0) { + q1_2 = q0_2; + q2_2 = (R[5] - R[7]) / 4.0F / q0_2; + q3_2 = (R[6] - R[2]) / 4.0F / q0_2; + q0_2 = (R[1] - R[3]) / 4.0F / q0_2; + + } else if (idx == 1) { + q2_2 = q0_2; + q1_2 = (R[5] - R[7]) / 4.0F / q0_2; + q3_2 = (R[3] + R[1]) / 4.0F / q0_2; + q0_2 = (R[6] + R[2]) / 4.0F / q0_2; + + } else if (idx == 2) { + q3_2 = q0_2; + q1_2 = (R[6] - R[2]) / 4.0F / q0_2; + q2_2 = (R[3] + R[1]) / 4.0F / q0_2; + q0_2 = (R[7] + R[5]) / 4.0F / q0_2; + + } else { + q1_2 = (R[1] - R[3]) / 4.0F / q0_2; + q2_2 = (R[6] + R[2]) / 4.0F / q0_2; + q3_2 = (R[7] + R[5]) / 4.0F / q0_2; + } + + /* return values */ + Q[0] = q1_2; + Q[1] = q2_2; + Q[2] = q3_2; + Q[3] = q0_2; } void quat2rot(const float Q[4], float R[9]) { - float q0_2; - float q1_2; - float q2_2; - float q3_2; - - memset(&R[0], 0, 9U * sizeof(float)); - - q0_2 = Q[0] * Q[0]; - q1_2 = Q[1] * Q[1]; - q2_2 = Q[2] * Q[2]; - q3_2 = Q[3] * Q[3]; - - R[0] = ((q0_2 + q1_2) - q2_2) - q3_2; - R[3] = 2.0F * (Q[1] * Q[2] - Q[0] * Q[3]); - R[6] = 2.0F * (Q[1] * Q[3] + Q[0] * Q[2]); - R[1] = 2.0F * (Q[1] * Q[2] + Q[0] * Q[3]); - R[4] = ((q0_2 + q2_2) - q1_2) - q3_2; - R[7] = 2.0F * (Q[2] * Q[3] - Q[0] * Q[1]); - R[2] = 2.0F * (Q[1] * Q[3] - Q[0] * Q[2]); - R[5] = 2.0F * (Q[2] * Q[3] + Q[0] * Q[1]); - R[8] = ((q0_2 + q3_2) - q1_2) - q2_2; + float q0_2; + float q1_2; + float q2_2; + float q3_2; + + memset(&R[0], 0, 9U * sizeof(float)); + + q0_2 = Q[0] * Q[0]; + q1_2 = Q[1] * Q[1]; + q2_2 = Q[2] * Q[2]; + q3_2 = Q[3] * Q[3]; + + R[0] = ((q0_2 + q1_2) - q2_2) - q3_2; + R[3] = 2.0F * (Q[1] * Q[2] - Q[0] * Q[3]); + R[6] = 2.0F * (Q[1] * Q[3] + Q[0] * Q[2]); + R[1] = 2.0F * (Q[1] * Q[2] + Q[0] * Q[3]); + R[4] = ((q0_2 + q2_2) - q1_2) - q3_2; + R[7] = 2.0F * (Q[2] * Q[3] - Q[0] * Q[1]); + R[2] = 2.0F * (Q[1] * Q[3] - Q[0] * Q[2]); + R[5] = 2.0F * (Q[2] * Q[3] + Q[0] * Q[1]); + R[8] = ((q0_2 + q3_2) - q1_2) - q2_2; } - + float get_air_density(float static_pressure, float temperature_celsius) { - return static_pressure/(air_gas_constant * (temperature_celsius + absolute_null_kelvin)); + return static_pressure / (air_gas_constant * (temperature_celsius + absolute_null_kelvin)); } -- cgit v1.2.3