Attitude representations

Collaboration diagram for Attitude representations:

Functions
static bool	stateIsAttitudeValid (void)
	Test if attitudes are valid. More...
static void	stateSetNedToBodyQuat_i (struct Int32Quat *ned_to_body_quat)
	Set vehicle body attitude from quaternion (int). More...
static void	stateSetNedToBodyRMat_i (struct Int32RMat *ned_to_body_rmat)
	Set vehicle body attitude from rotation matrix (int). More...
static void	stateSetNedToBodyEulers_i (struct Int32Eulers *ned_to_body_eulers)
	Set vehicle body attitude from euler angles (int). More...
static void	stateSetNedToBodyQuat_f (struct FloatQuat *ned_to_body_quat)
	Set vehicle body attitude from quaternion (float). More...
static void	stateSetNedToBodyRMat_f (struct FloatRMat *ned_to_body_rmat)
	Set vehicle body attitude from rotation matrix (float). More...
static void	stateSetNedToBodyEulers_f (struct FloatEulers *ned_to_body_eulers)
	Set vehicle body attitude from euler angles (float). More...
static struct Int32Quat *	stateGetNedToBodyQuat_i (void)
	Get vehicle body attitude quaternion (int). More...
static struct Int32RMat *	stateGetNedToBodyRMat_i (void)
	Get vehicle body attitude rotation matrix (int). More...
static struct Int32Eulers *	stateGetNedToBodyEulers_i (void)
	Get vehicle body attitude euler angles (int). More...
static struct FloatQuat *	stateGetNedToBodyQuat_f (void)
	Get vehicle body attitude quaternion (float). More...
static struct FloatRMat *	stateGetNedToBodyRMat_f (void)
	Get vehicle body attitude rotation matrix (float). More...
static struct FloatEulers *	stateGetNedToBodyEulers_f (void)
	Get vehicle body attitude euler angles (float). More...

Detailed Description

Function Documentation

stateGetNedToBodyEulers_f()

static struct FloatEulers* stateGetNedToBodyEulers_f ( void  )

inlinestatic

Get vehicle body attitude euler angles (float).

Definition at line 1143 of file state.h.

References State::ned_to_body_orientation, orientationGetEulers_f(), and state.

Referenced by calculate_new_heading(), calculateForwards(), calibrate_coeff(), cam_target(), check_parachute_trigger(), CN_calculate_target(), CN_escape_velocity(), CN_potential_heading(), CN_potential_velocity(), CN_vector_escape_velocity(), CN_vector_velocity(), collective_tracking_control(), ctrl_eff_scheduling_periodic(), dc_circle(), dc_info(), dc_periodic(), dc_send_shot_position(), decode_optical_flow_msg(), draw_osd(), dw1000_reset_heading_ref(), ekf_aw_wrapper_fetch(), ekf_aw_wrapper_periodic(), get_world_position_from_image_points(), guidance_h_hover_enter(), guidance_h_set_body_acc(), guidance_h_set_body_vel(), guidance_indi_calcG(), guidance_indi_enter(), guidance_pid_h_enter(), gvf_low_level_control_2D(), gvf_low_level_getState(), gvf_parametric_low_level_control_2D(), gvf_parametric_low_level_control_3D(), h_ctl_course_loop(), h_ctl_pitch_loop(), h_ctl_roll_loop(), imu_SetBodyToImuCurrent(), increase_nav_heading(), lidar_lite_periodic(), lidar_sf11_periodic(), logger_file_write_row(), logger_uart_periodic(), main_periodic_task(), mateksys3901l0x_parse(), mavlink_send_attitude(), mavlink_send_global_position_int(), mavlink_send_highres_imu(), mavlink_send_vfr_hud(), mf_daq_send_state(), nav_launcher_setup(), nav_set_heading_current(), OA_update(), object_tracking_run(), orange_avoider_guided_periodic(), parse_mf_daq_msg(), pose_periodic(), print_true_state(), px4flow_i2c_frame_cb(), read_rc_setpoint_heading(), rover_guidance_enter(), rover_guidance_run(), rover_holo_guidance_enter(), rover_holo_guidance_run(), send_att(), send_att_full_indi(), send_attitude(), send_ctl_a(), send_dragspeed(), send_ins_flow(), send_tune_roll(), sonar_bebop_event(), sonar_pwm_read(), stabilization_attitude_get_heading_f(), stabilization_attitude_read_rc_setpoint(), stabilization_attitude_read_rc_setpoint_earth_bound(), stabilization_attitude_reset_care_free_heading(), stabilization_attitude_reset_rc_setpoint(), stabilization_attitude_run(), state2stereocam(), stereo_avoid_run(), tfmini_i2c_periodic(), tfmini_parse(), v_ctl_climb_loop(), vertical_ctrl_module_run(), and wind_estimator_periodic().

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stateGetNedToBodyEulers_i()

static struct Int32Eulers* stateGetNedToBodyEulers_i ( void  )

inlinestatic

Get vehicle body attitude euler angles (int).

Definition at line 1125 of file state.h.

References State::ned_to_body_orientation, orientationGetEulers_i(), and state.

Referenced by computeOptiTrack(), dc_send_command(), guidance_flip_run(), guidance_module_enter(), OA_update(), read_rc_setpoint_speed_i(), reset_psi_ref_from_body(), rotorcraft_cam_periodic(), send_att(), send_euler(), send_fp(), send_tune_hover(), stabilization_attitude_get_heading_i(), and stabilization_attitude_run().

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stateGetNedToBodyQuat_f()

static struct FloatQuat* stateGetNedToBodyQuat_f ( void  )

inlinestatic

Get vehicle body attitude quaternion (float).

Definition at line 1131 of file state.h.

References State::ned_to_body_orientation, orientationGetQuat_f(), and state.

Referenced by eff_scheduling_falcon_periodic(), eff_scheduling_periodic_b(), guidance_indi_calcg_wing(), guidance_indi_enter(), guidance_indi_hybrid_set_wls_settings(), jevois_send_state(), mag_calib_ukf_run(), mavlink_send_attitude_quaternion(), oneloop_andi_run(), schdule_control_effectiveness(), send_att_full_indi(), send_fp(), send_windtunnel_meas(), stabilization_attitude_enter(), stabilization_attitude_reset_rc(), stabilization_attitude_reset_rc_setpoint(), stabilization_attitude_run(), stabilization_indi_attitude_run(), update_attitude(), update_tag_position(), vel_est_cb(), and wind_estimator_periodic().

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stateGetNedToBodyQuat_i()

static struct Int32Quat* stateGetNedToBodyQuat_i ( void  )

inlinestatic

Get vehicle body attitude quaternion (int).

Definition at line 1113 of file state.h.

References State::ned_to_body_orientation, orientationGetQuat_i(), and state.

Referenced by ins_int_update_gps(), send_ahrs_quat(), send_ahrs_ref_quat(), send_quat(), stabilization_attitude_enter(), and stabilization_attitude_run().

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stateGetNedToBodyRMat_f()

static struct FloatRMat* stateGetNedToBodyRMat_f ( void  )

inlinestatic

Get vehicle body attitude rotation matrix (float).

Definition at line 1137 of file state.h.

References State::ned_to_body_orientation, orientationGetRMat_f(), and state.

Referenced by detection_cb(), ekf_run(), gps_cb(), ground_detect_periodic(), nav_catapult_highrate_module(), process_data(), rotwing_state_choose_circle_direction(), rotwing_state_set_transition_wp(), send_ins_flow(), unwrap_LUT(), update_tag_position(), wind_estimation_quadrotor_periodic(), and wind_estimator_periodic().

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stateGetNedToBodyRMat_i()

static struct Int32RMat* stateGetNedToBodyRMat_i ( void  )

inlinestatic

Get vehicle body attitude rotation matrix (int).

Definition at line 1119 of file state.h.

References State::ned_to_body_orientation, orientationGetRMat_i(), and state.

Referenced by accel_cb(), ekf_aw_wrapper_fetch(), georeference_project(), get_vertical_thrust_coeff(), hff_propagate(), ins_int_propagate(), ins_module_propagate(), and stabilization_attitude_run().

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stateIsAttitudeValid()

static bool stateIsAttitudeValid ( void  )

inlinestatic

Test if attitudes are valid.

Definition at line 1067 of file state.h.

References State::ned_to_body_orientation, orienationCheckValid(), and state.

Referenced by imu_SetBodyToImuCurrent(), and mavlink_send_heartbeat().

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stateSetNedToBodyEulers_f()

static void stateSetNedToBodyEulers_f ( struct FloatEulers *  ned_to_body_eulers )

inlinestatic

Set vehicle body attitude from euler angles (float).

Definition at line 1105 of file state.h.

References State::ned_to_body_orientation, orientationSetEulers_f(), and state.

Referenced by ArduIMU_event(), ArduIMU_periodic(), ekf_run(), IMU_Daten_verarbeiten(), parse_ins_msg(), update_ahrs_from_sim(), update_state_interface(), and vn100_event_task().

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stateSetNedToBodyEulers_i()

static void stateSetNedToBodyEulers_i ( struct Int32Eulers *  ned_to_body_eulers )

inlinestatic

Set vehicle body attitude from euler angles (int).

Definition at line 1087 of file state.h.

References State::ned_to_body_orientation, orientationSetEulers_i(), and state.

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stateSetNedToBodyQuat_f()

static void stateSetNedToBodyQuat_f ( struct FloatQuat *  ned_to_body_quat )

inlinestatic

Set vehicle body attitude from quaternion (float).

Definition at line 1093 of file state.h.

References State::ned_to_body_orientation, orientationSetQuat_f(), and state.

Referenced by ahrs_vectornav_propagate(), compute_body_orientation_and_rates(), ins_ekf2_publish_attitude(), ins_float_invariant_align(), ins_float_invariant_propagate(), set_body_state_from_quat(), set_state_from_ins(), and sim_overwrite_ahrs().

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stateSetNedToBodyQuat_i()

static void stateSetNedToBodyQuat_i ( struct Int32Quat *  ned_to_body_quat )

inlinestatic

Set vehicle body attitude from quaternion (int).

Definition at line 1075 of file state.h.

References State::ned_to_body_orientation, orientationSetQuat_i(), and state.

Referenced by set_body_state_from_quat().

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stateSetNedToBodyRMat_f()

static void stateSetNedToBodyRMat_f ( struct FloatRMat *  ned_to_body_rmat )

inlinestatic

Set vehicle body attitude from rotation matrix (float).

Definition at line 1099 of file state.h.

References State::ned_to_body_orientation, orientationSetRMat_f(), and state.

Referenced by ins_vectornav_propagate(), and set_body_orientation_and_rates().

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stateSetNedToBodyRMat_i()

static void stateSetNedToBodyRMat_i ( struct Int32RMat *  ned_to_body_rmat )

inlinestatic

Set vehicle body attitude from rotation matrix (int).

Definition at line 1081 of file state.h.

References State::ned_to_body_orientation, orientationSetRMat_i(), and state.

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