Paparazzi UAS  v5.15_devel-46-gd23ed71
Paparazzi is a free software Unmanned Aircraft System.
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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 Int32QuatstateGetNedToBodyQuat_i (void)
 Get vehicle body attitude quaternion (int). More...
 
static struct Int32RMatstateGetNedToBodyRMat_i (void)
 Get vehicle body attitude rotation matrix (int). More...
 
static struct Int32EulersstateGetNedToBodyEulers_i (void)
 Get vehicle body attitude euler angles (int). More...
 
static struct FloatQuatstateGetNedToBodyQuat_f (void)
 Get vehicle body attitude quaternion (float). More...
 
static struct FloatRMatstateGetNedToBodyRMat_f (void)
 Get vehicle body attitude rotation matrix (float). More...
 
static struct FloatEulersstateGetNedToBodyEulers_f (void)
 Get vehicle body attitude euler angles (float). More...
 

Detailed Description

Function Documentation

static struct FloatEulers* stateGetNedToBodyEulers_f ( void  )
static

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 autopilot_guided_goto_body_relative(), autopilot_guided_goto_ned_relative(), autopilot_guided_update(), calibrate_coeff(), cam_target(), CN_calculate_target(), CN_escape_velocity(), CN_potential_heading(), CN_potential_velocity(), CN_vector_escape_velocity(), CN_vector_velocity(), dc_circle(), dc_info(), dc_periodic(), dc_send_shot_position(), decode_optical_flow_msg(), dw1000_reset_heading_ref(), get_world_position_from_image_points(), guidance_h_hover_enter(), guidance_h_nav_enter(), guidance_h_set_guided_body_vel(), guidance_indi_calcG(), guidance_indi_enter(), guidance_indi_run(), gvf_control_2D(), h_ctl_course_loop(), h_ctl_pitch_loop(), h_ctl_roll_loop(), imu_SetBodyToImuCurrent(), lidar_lite_periodic(), lidar_sf11_periodic(), logger_uart_periodic(), main_periodic_task(), 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(), parse_mf_daq_msg(), pose_periodic(), px4flow_i2c_frame_cb(), rover_guidance_enter(), rover_guidance_run(), rover_holo_guidance_enter(), rover_holo_guidance_run(), send_att(), send_attitude(), send_ctl_a(), send_dragspeed(), send_tune_roll(), stabilization_attitude_get_heading_f(), stabilization_attitude_read_rc_setpoint_eulers_f(), stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), stabilization_attitude_read_rc_setpoint_quat_f(), stabilization_attitude_reset_care_free_heading(), stabilization_attitude_run(), stabilization_attitude_set_earth_cmd_i(), stabilization_attitude_set_failsafe_setpoint(), state2stereocam(), stereo_avoid_run(), takeoff_detect_periodic(), tfmini_parse(), v_ctl_climb_loop(), and wind_estimator_periodic().

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static struct FloatQuat* stateGetNedToBodyQuat_f ( void  )
static

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 guidance_indi_run(), mag_calib_ukf_run(), mavlink_send_attitude_quaternion(), stabilization_attitude_run(), vel_est_cb(), and wind_estimator_periodic().

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static struct Int32Quat* stateGetNedToBodyQuat_i ( void  )
static

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 file_logger_periodic(), ins_int_update_gps(), send_ahrs_ref_quat(), send_quat(), stabilization_attitude_run(), and stabilization_indi_run().

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static struct FloatRMat* stateGetNedToBodyRMat_f ( void  )
static

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 nav_catapult_highrate_module(), unwrap_LUT(), and wind_estimator_periodic().

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static struct Int32RMat* stateGetNedToBodyRMat_i ( void  )
static

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(), georeference_project(), get_vertical_thrust_coeff(), hff_propagate(), ins_int_propagate(), ins_module_propagate(), and stabilization_attitude_run().

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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 ap_ahrs_is_aligned(), imu_SetBodyToImuCurrent(), and mavlink_send_heartbeat().

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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 ahrs_infrared_periodic(), ArduIMU_event(), ArduIMU_periodic(), gx3_packet_read_message(), IMU_Daten_verarbeiten(), parse_ins_msg(), update_ahrs_from_sim(), update_state_interface(), and vn100_event_task().

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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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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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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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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 gx3_packet_read_message(), ins_vectornav_propagate(), and set_body_orientation_and_rates().

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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.

Referenced by set_body_state_from_euler().

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