ahrs_float_utils.h File Reference

#include "math/pprz_algebra_float.h"
#include "subsystems/ahrs/ahrs_magnetic_field_model.h"
#include "std.h"

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Functions
static void	ahrs_float_get_euler_from_accel_mag (struct FloatEulers *e, struct FloatVect3 *accel, struct FloatVect3 *mag)
	Computer orientation in euler angles from accel and mag This is not working when the IMU is upside-down, then use the quaternion based function. More...
static void	ahrs_float_get_quat_from_accel (struct FloatQuat *q, struct FloatVect3 *accel)
	Compute a quaternion representing roll and pitch from an accelerometer measurement. More...
static void	ahrs_float_get_quat_from_accel_mag (struct FloatQuat *q, struct FloatVect3 *accel, struct FloatVect3 *mag)

Detailed Description

Utility functions for floating point AHRS implementations.

Definition in file ahrs_float_utils.h.

Function Documentation

ahrs_float_get_euler_from_accel_mag()

static void ahrs_float_get_euler_from_accel_mag ( struct FloatEulers *  e, struct FloatVect3 *  accel, struct FloatVect3 *  mag  )

inlinestatic

Computer orientation in euler angles from accel and mag This is not working when the IMU is upside-down, then use the quaternion based function.

Definition at line 40 of file ahrs_float_utils.h.

References EULERS_ASSIGN, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

ahrs_float_get_quat_from_accel()

static void ahrs_float_get_quat_from_accel ( struct FloatQuat *  q, struct FloatVect3 *  accel  )

inlinestatic

Compute a quaternion representing roll and pitch from an accelerometer measurement.

Definition at line 61 of file ahrs_float_utils.h.

References float_quat_normalize(), float_vect3_normalize(), FloatQuat::qi, QUAT_ASSIGN, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by ahrs_dcm_align(), ahrs_fc_align(), ahrs_float_get_quat_from_accel_mag(), ahrs_int_get_quat_from_accel(), ahrs_madgwick_align(), and ins_float_invariant_align().

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ahrs_float_get_quat_from_accel_mag()

static void ahrs_float_get_quat_from_accel_mag ( struct FloatQuat *  q, struct FloatVect3 *  accel, struct FloatVect3 *  mag  )

inlinestatic

Definition at line 85 of file ahrs_float_utils.h.

References ahrs_float_get_quat_from_accel(), float_quat_comp_norm_shortest(), float_quat_normalize(), float_rmat_of_quat(), float_rmat_transp_vmult(), FloatQuat::qi, QUAT_ASSIGN, FloatQuat::qx, FloatQuat::qy, FloatQuat::qz, SQUARE, FloatVect3::x, and FloatVect3::y.

Referenced by ahrs_dcm_align(), ahrs_fc_align(), ahrs_float_invariant_align(), ahrs_int_get_quat_from_accel_mag(), ahrs_mlkf_align(), aligner_cb(), and ins_float_invariant_align().

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