Collaboration diagram for Fixed Point Algebra:

Data Structures
struct	Uint8Vect3

struct	Int8Vect3

struct	Uint16Vect3

struct	Int16Vect3

struct	Int32Vect2

struct	Int32Vect3

struct	Int32Quat
	Rotation quaternion. More...

struct	Int64Quat

struct	Int16Eulers

struct	Int32Eulers
	euler angles More...

struct	Int32RMat
	rotation matrix More...

struct	Int32Mat33

struct	Int16Rates

struct	Int32Rates
	angular rates More...

struct	Int64Rates

struct	Int64Vect2

struct	Int64Vect3

Macros
#define	INT32_POS_FRAC 8

#define	INT32_POS_OF_CM 2.56

#define	INT32_POS_OF_CM_NUM 64

#define	INT32_POS_OF_CM_DEN 25

#define	INT32_SPEED_FRAC 19

#define	INT32_SPEED_OF_CM_S 5242.88

#define	INT32_SPEED_OF_CM_S_NUM 41943

#define	INT32_SPEED_OF_CM_S_DEN 8

#define	INT32_ACCEL_FRAC 10

#define	INT32_MAG_FRAC 11

#define	INT32_PERCENTAGE_FRAC 10

#define	INT32_QUAT_FRAC 15

#define	INT32_ANGLE_FRAC 12

#define	INT32_RATE_FRAC 12

#define	INT32_ANGLE_PI_4 (int32_t)ANGLE_BFP_OF_REAL( 0.7853981633974483096156608458198757)

#define	INT32_ANGLE_PI_2 (int32_t)ANGLE_BFP_OF_REAL( 1.5707963267948966192313216916397514)

#define	INT32_ANGLE_PI (int32_t)ANGLE_BFP_OF_REAL( 3.1415926535897932384626433832795029)

#define	INT32_ANGLE_2_PI (int32_t)ANGLE_BFP_OF_REAL(2.*3.1415926535897932384626433832795029)

#define	INT32_RAD_OF_DEG(_deg) (int32_t)(((int64_t)(_deg) * 14964008)/857374503)

#define	INT32_DEG_OF_RAD(_rad) (int32_t)(((int64_t)(_rad) * 857374503)/14964008)

#define	INT32_ANGLE_NORMALIZE(_a)

#define	INT32_COURSE_NORMALIZE(_a)

#define	INT32_TRIG_FRAC 14

#define	BFP_OF_REAL(_vr, _frac) ((_vr)*(1<<(_frac)))

#define	FLOAT_OF_BFP(_vbfp, _frac) ((float)(_vbfp)/(1<<(_frac)))

#define	DOUBLE_OF_BFP(_vbfp, _frac) ((double)(_vbfp)/(1<<(_frac)))

#define	RATE_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_RATE_FRAC)

#define	RATE_FLOAT_OF_BFP(_ai) FLOAT_OF_BFP((_ai), INT32_RATE_FRAC)

#define	ANGLE_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_ANGLE_FRAC)

#define	ANGLE_FLOAT_OF_BFP(_ai) FLOAT_OF_BFP((_ai), INT32_ANGLE_FRAC)

#define	QUAT1_BFP_OF_REAL(_qf) BFP_OF_REAL((_qf), INT32_QUAT_FRAC)

#define	QUAT1_FLOAT_OF_BFP(_qi) FLOAT_OF_BFP((_qi), INT32_QUAT_FRAC)

#define	TRIG_BFP_OF_REAL(_tf) BFP_OF_REAL((_tf), INT32_TRIG_FRAC)

#define	TRIG_FLOAT_OF_BFP(_ti) FLOAT_OF_BFP((_ti),INT32_TRIG_FRAC)

#define	POS_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_POS_FRAC)

#define	POS_FLOAT_OF_BFP(_ai) FLOAT_OF_BFP((_ai), INT32_POS_FRAC)

#define	SPEED_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_SPEED_FRAC)

#define	SPEED_FLOAT_OF_BFP(_ai) FLOAT_OF_BFP((_ai), INT32_SPEED_FRAC)

#define	ACCEL_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_ACCEL_FRAC)

#define	ACCEL_FLOAT_OF_BFP(_ai) FLOAT_OF_BFP((_ai), INT32_ACCEL_FRAC)

#define	MAG_BFP_OF_REAL(_af) BFP_OF_REAL((_af), INT32_MAG_FRAC)

#define	MAG_FLOAT_OF_BFP(_ai) FLOAT_OF_BFP((_ai), INT32_MAG_FRAC)

#define	INT_MULT_RSHIFT(_a, _b, _r) (((_a)*(_b))>>(_r))

#define	INT32_SQRT(_out, _in) { _out = int32_sqrt(_in); }

#define	INT_VECT2_ZERO(_v) VECT2_ASSIGN(_v, 0, 0)

#define	INT32_VECT2_NORM(_v) int32_sqrt(VECT2_NORM2(_v))

#define	INT32_VECT2_NORMALIZE(_v, _frac) int32_vect2_normalize(&(_v), _frac)

#define	INT32_VECT2_RSHIFT(_o, _i, _r)

#define	INT32_VECT2_LSHIFT(_o, _i, _l)

#define	INT32_VECT2_SCALE_2(_a, _b, _num, _den)

#define	INT_VECT3_ZERO(_v) VECT3_ASSIGN(_v, 0, 0, 0)

#define	INT32_VECT3_ZERO(_v) VECT3_ASSIGN(_v, 0, 0, 0)

#define	INT32_VECT3_SCALE_2(_a, _b, _num, _den)

#define	INT32_VECT3_NORM(_v) int32_sqrt(VECT3_NORM2(_v))

#define	INT32_VECT3_RSHIFT(_o, _i, _r)

#define	INT32_VECT3_LSHIFT(_o, _i, _l)

#define	INT32_MAT33_ZERO(_m)

#define	INT32_MAT33_DIAG(_m, _d00, _d11, _d22)

#define	int32_rmat_of_eulers int32_rmat_of_eulers_321
	Rotation matrix from Euler angles. More...

#define	INT32_RMAT_COMP(_m_a2c, _m_a2b, _m_b2c) int32_rmat_comp(&(_m_a2c), &(_m_a2b), &(_m_b2c))

#define	INT32_RMAT_COMP_INV(_m_a2b, _m_a2c, _m_b2c) int32_rmat_comp_inv(&(_m_a2b), &(_m_a2c), &(_m_b2c))

#define	INT32_RMAT_VMULT(_vb, _m_a2b, _va) int32_rmat_vmult(&(_vb), &(_m_a2b), &(_va))

#define	INT32_RMAT_TRANSP_VMULT(_vb, _m_b2a, _va) int32_rmat_transp_vmult(&(_vb), &(_m_b2a), &(_va))

#define	INT32_RMAT_RATEMULT(_rb, _m_a2b, _ra) int32_rmat_ratemult(&(_rb), &(_m_a2b), &(_ra))

#define	INT32_RMAT_TRANSP_RATEMULT(_rb, _m_b2a, _ra) int32_rmat_ratemult(&(_rb), &(_m_b2a), &(_ra))

#define	INT32_RMAT_OF_QUAT(_rm, _q) int32_rmat_of_quat(&(_rm), &(_q))

#define	INT32_RMAT_OF_EULERS(_rm, _e) int32_rmat_of_eulers_321(&(_rm), &(_e))

#define	INT32_RMAT_OF_EULERS_321(_rm, _e) int32_rmat_of_eulers_321(&(_rm), &(_e))

#define	INT32_RMAT_OF_EULERS_312(_rm, _e) int32_rmat_of_eulers_312(&(_rm), &(_e))

#define	INT32_QUAT_ZERO(_q) int32_quat_identity(&(_q))

#define	INT32_QUAT_NORM(n, q) { n = int32_quat_norm(&(q)); }

#define	INT32_QUAT_WRAP_SHORTEST(q) int32_quat_wrap_shortest(&(q))

#define	INT32_QUAT_NORMALIZE(q) int32_quat_normalize(&(q))

#define	INT32_QUAT_COMP(_a2c, _a2b, _b2c) int32_quat_comp(&(_a2c), &(_a2b), &(_b2c))

#define	INT32_QUAT_COMP_INV(_a2b, _a2c, _b2c) int32_quat_comp_inv(&(_a2b), &(_a2c), &(_b2c))

#define	INT32_QUAT_INV_COMP(_b2c, _a2b, _a2c) int32_quat_inv_comp(&(_b2c), &(_a2b), &(_a2c))

#define	INT32_QUAT_COMP_NORM_SHORTEST(_a2c, _a2b, _b2c) int32_quat_comp_norm_shortest(&(_a2c), &(_a2b), &(_b2c))

#define	INT32_QUAT_INV_COMP_NORM_SHORTEST(_b2c, _a2b, _a2c) int32_quat_inv_comp_norm_shortest(&(_b2c), &(_a2b), &(_a2c))

#define	INT32_QUAT_DERIVATIVE(_qd, _r, _q) int32_quat_derivative(&(_qd), &(_r), &(_q))

#define	INT32_QUAT_INTEGRATE_FI(_q, _hr, _omega, _f) int32_quat_integrate_fi(&(_q), &(_hr), &(_omega), _f)

#define	INT32_QUAT_VMULT(v_out, q, v_in) int32_quat_vmult(&(v_out), &(q), &(v_in))

#define	INT32_QUAT_OF_EULERS(_q, _e) int32_quat_of_eulers(&(_q), &(_e))

#define	INT32_QUAT_OF_AXIS_ANGLE(_q, _uv, _an) int32_quat_of_axis_angle(&(_q), &(_uv), _an)

#define	INT32_QUAT_OF_RMAT(_q, _r) int32_quat_of_rmat(&(_q), &(_r))

#define	INT_EULERS_ZERO(_e) EULERS_ASSIGN(_e, 0, 0, 0)

#define	INT32_EULERS_OF_RMAT(_e, _rm) int32_eulers_of_rmat(&(_e), &(_rm))

#define	INT32_EULERS_OF_QUAT(_e, _q) int32_eulers_of_quat(&(_e), &(_q))

#define	INT32_EULERS_LSHIFT(_o, _i, _r)

#define	INT32_EULERS_RSHIFT(_o, _i, _r)

#define	INT_RATES_ZERO(_e) RATES_ASSIGN(_e, 0, 0, 0)

#define	INT_RATES_RSHIFT(_o, _i, _r)

#define	INT_RATES_LSHIFT(_o, _i, _r)

#define	int32_eulers_dot_of_rates int32_eulers_dot_321_of_rates

#define	INT32_RATES_OF_EULERS_DOT_321(_r, _e, _ed) int32_rates_of_eulers_dot_321(&(_r), &(_e), &(_ed))

#define	INT32_RATES_OF_EULERS_DOT(_r, _e, _ed) int32_rates_of_eulers_dot_321(&(_r), &(_e), &(_ed))

#define	INT32_EULERS_DOT_321_OF_RATES(_ed, _e, _r) int32_eulers_dot_321_of_rates(&(_ed), &(_e), &(_r))

#define	INT32_EULERS_DOT_OF_RATES(_ed, _e, _r) int32_eulers_dot_321_of_rates(&(_ed), &(_e), &(_r))

Functions
uint32_t	int32_sqrt (uint32_t in)

static uint32_t	int32_vect2_norm2 (struct Int32Vect2 *v)
	return squared norm of 2D vector More...

static uint32_t	int32_vect2_norm (struct Int32Vect2 *v)
	return norm of 2D vector More...

static void	int32_vect2_normalize (struct Int32Vect2 *v, uint8_t frac)
	normalize 2D vector inplace More...

static void	int32_rmat_identity (struct Int32RMat *rm)
	initialises a rotation matrix to identity More...

void	int32_rmat_comp (struct Int32RMat m_a2c, struct Int32RMat m_a2b, struct Int32RMat *m_b2c)
	Composition (multiplication) of two rotation matrices. More...

void	int32_rmat_comp_inv (struct Int32RMat m_a2b, struct Int32RMat m_a2c, struct Int32RMat *m_b2c)
	Composition (multiplication) of two rotation matrices. More...

void	int32_rmat_vmult (struct Int32Vect3 vb, struct Int32RMat m_a2b, struct Int32Vect3 *va)
	rotate 3D vector by rotation matrix. More...

void	int32_rmat_transp_vmult (struct Int32Vect3 vb, struct Int32RMat m_b2a, struct Int32Vect3 *va)
	rotate 3D vector by transposed rotation matrix. More...

void	int32_rmat_ratemult (struct Int32Rates rb, struct Int32RMat m_a2b, struct Int32Rates *ra)
	rotate anglular rates by rotation matrix. More...

void	int32_rmat_transp_ratemult (struct Int32Rates rb, struct Int32RMat m_b2a, struct Int32Rates *ra)
	rotate anglular rates by transposed rotation matrix. More...

void	int32_rmat_of_quat (struct Int32RMat rm, struct Int32Quat q)
	Convert unit quaternion to rotation matrix. More...

void	int32_rmat_of_eulers_321 (struct Int32RMat rm, struct Int32Eulers e)
	Rotation matrix from 321 Euler angles (int). More...

void	int32_rmat_of_eulers_312 (struct Int32RMat rm, struct Int32Eulers e)
	Rotation matrix from 312 Euler angles. More...

static void	int32_quat_identity (struct Int32Quat *q)
	initialises a quaternion to identity More...

static uint32_t	int32_quat_norm (struct Int32Quat *q)
	Norm of a quaternion. More...

static void	int32_quat_wrap_shortest (struct Int32Quat *q)

static void	int32_quat_normalize (struct Int32Quat *q)
	normalize a quaternion inplace More...

void	int32_quat_comp (struct Int32Quat a2c, struct Int32Quat a2b, struct Int32Quat *b2c)
	Composition (multiplication) of two quaternions. More...

void	int32_quat_comp_inv (struct Int32Quat a2b, struct Int32Quat a2c, struct Int32Quat *b2c)
	Composition (multiplication) of two quaternions. More...

void	int32_quat_inv_comp (struct Int32Quat b2c, struct Int32Quat a2b, struct Int32Quat *a2c)
	Composition (multiplication) of two quaternions. More...

void	int32_quat_comp_norm_shortest (struct Int32Quat a2c, struct Int32Quat a2b, struct Int32Quat *b2c)
	Composition (multiplication) of two quaternions with normalization. More...

void	int32_quat_comp_inv_norm_shortest (struct Int32Quat a2b, struct Int32Quat a2c, struct Int32Quat *b2c)
	Composition (multiplication) of two quaternions with normalization. More...

void	int32_quat_inv_comp_norm_shortest (struct Int32Quat b2c, struct Int32Quat a2b, struct Int32Quat *a2c)
	Composition (multiplication) of two quaternions with normalization. More...

void	int32_quat_derivative (struct Int32Quat qd, const struct Int32Rates r, struct Int32Quat *q)
	Quaternion derivative from rotational velocity. More...

void	int32_quat_integrate_fi (struct Int32Quat q, struct Int64Quat hr, struct Int32Rates *omega, int freq)
	in place quaternion first order integration with constant rotational velocity. More...

void	int32_quat_vmult (struct Int32Vect3 v_out, struct Int32Quat q, struct Int32Vect3 *v_in)
	rotate 3D vector by quaternion. More...

void	int32_quat_of_eulers (struct Int32Quat q, struct Int32Eulers e)
	Quaternion from Euler angles. More...

void	int32_quat_of_axis_angle (struct Int32Quat q, struct Int32Vect3 uv, int32_t angle)
	Quaternion from unit vector and angle. More...

void	int32_quat_of_rmat (struct Int32Quat q, struct Int32RMat r)
	Quaternion from rotation matrix. More...

void	int32_eulers_of_rmat (struct Int32Eulers e, struct Int32RMat rm)

void	int32_eulers_of_quat (struct Int32Eulers e, struct Int32Quat q)

void	int32_rates_of_eulers_dot_321 (struct Int32Rates r, struct Int32Eulers e, struct Int32Eulers *ed)

void	int32_eulers_dot_321_of_rates (struct Int32Eulers ed, struct Int32Eulers e, struct Int32Rates *r)

Detailed Description

Data Structure Documentation

struct Uint8Vect3

Definition at line 44 of file pprz_algebra_int.h.

Data Fields
uint8_t	x
uint8_t	y
uint8_t	z

struct Int8Vect3

Definition at line 50 of file pprz_algebra_int.h.

Data Fields
int8_t	x
int8_t	y
int8_t	z

struct Uint16Vect3

Definition at line 56 of file pprz_algebra_int.h.

Data Fields
uint16_t	x
uint16_t	y
uint16_t	z

struct Int16Vect3

Definition at line 62 of file pprz_algebra_int.h.

Data Fields
int16_t	x
int16_t	y
int16_t	z

struct Int32Vect2

Definition at line 83 of file pprz_algebra_int.h.

Data Fields
int32_t	x
int32_t	y

struct Int32Vect3

Definition at line 88 of file pprz_algebra_int.h.

Data Fields
int32_t	x
int32_t	y
int32_t	z

struct Int32Quat

Rotation quaternion.

Units: BFP with INT32_QUAT_FRAC

Definition at line 99 of file pprz_algebra_int.h.

Data Fields
int32_t	qi
int32_t	qx
int32_t	qy
int32_t	qz

struct Int64Quat

Definition at line 107 of file pprz_algebra_int.h.

Data Fields
int64_t	qi
int64_t	qx
int64_t	qy
int64_t	qz

struct Int16Eulers

Definition at line 137 of file pprz_algebra_int.h.

Data Fields
int16_t	phi
int16_t	psi
int16_t	theta

struct Int32Eulers

euler angles

Units: rad in BFP with INT32_ANGLE_FRAC

Definition at line 146 of file pprz_algebra_int.h.

Data Fields
int32_t	phi	in rad with INT32_ANGLE_FRAC
int32_t	psi	in rad with INT32_ANGLE_FRAC
int32_t	theta	in rad with INT32_ANGLE_FRAC

struct Int32RMat

rotation matrix

Units: rad in BFP with INT32_TRIG_FRAC

Definition at line 159 of file pprz_algebra_int.h.

Data Fields
int32_t	m[3 *3]

struct Int32Mat33

Definition at line 164 of file pprz_algebra_int.h.

Data Fields
int32_t	m[3 *3]

struct Int16Rates

Definition at line 169 of file pprz_algebra_int.h.

Data Fields
int16_t	p
int16_t	q
int16_t	r

struct Int32Rates

angular rates

Units: rad/s in BFP with INT32_RATE_FRAC

Definition at line 179 of file pprz_algebra_int.h.

Data Fields
int32_t	p	in rad/s with INT32_RATE_FRAC
int32_t	q	in rad/s with INT32_RATE_FRAC
int32_t	r	in rad/s with INT32_RATE_FRAC

struct Int64Rates

Definition at line 185 of file pprz_algebra_int.h.

Data Fields
int64_t	p
int64_t	q
int64_t	r

struct Int64Vect2

Definition at line 192 of file pprz_algebra_int.h.

Data Fields
int64_t	x
int64_t	y

struct Int64Vect3

Definition at line 197 of file pprz_algebra_int.h.

Data Fields
int64_t	x
int64_t	y
int64_t	z

Macro Definition Documentation

#define ACCEL_BFP_OF_REAL ( _af ) BFP_OF_REAL((_af), INT32_ACCEL_FRAC)

Definition at line 220 of file pprz_algebra_int.h.

Referenced by accel_cb(), gv_adapt_run(), handle_ins_msg(), ins_int_propagate(), and ins_update_from_vff().

#define ACCEL_FLOAT_OF_BFP ( _ai ) FLOAT_OF_BFP((_ai), INT32_ACCEL_FRAC)

Definition at line 221 of file pprz_algebra_int.h.

Referenced by ArduIMU_event(), b2_hff_propagate(), ins_int_propagate(), and nav_catapult_highrate_module().

#define ANGLE_BFP_OF_REAL ( _af ) BFP_OF_REAL((_af), INT32_ANGLE_FRAC)

Definition at line 210 of file pprz_algebra_int.h.

Referenced by ahrs_int_get_euler_from_accel_mag(), get_rc_pitch(), get_rc_roll(), get_rc_yaw(), gh_compute_route_ref(), guidance_flip_run(), guidance_h_set_guided_heading(), guidance_h_traj_run(), int32_atan2_2(), int32_eulers_of_quat(), int32_eulers_of_rmat(), nav_set_heading_rad(), nav_set_heading_towards(), OA_update(), stabilization_attitude_read_rc_setpoint_eulers(), and transition_run().

#define ANGLE_FLOAT_OF_BFP ( _ai ) FLOAT_OF_BFP((_ai), INT32_ANGLE_FRAC)

Definition at line 211 of file pprz_algebra_int.h.

Referenced by ArduIMU_event(), quat_from_earth_cmd_i(), run_avoid_navigation_onvision(), stabilization_attitude_get_heading_i(), stabilization_attitude_read_rc_roll_pitch_earth_quat_f(), stabilization_attitude_read_rc_setpoint_eulers(), stabilization_attitude_read_rc_setpoint_quat_earth_bound_f(), stabilization_attitude_read_rc_setpoint_quat_f(), stabilization_attitude_set_earth_cmd_i(), stabilization_attitude_set_setpoint_rp_quat_f(), and stereocam_droplet_periodic().

#define BFP_OF_REAL	(	_vr,
		_frac
	)	((_vr)*(1<<(_frac)))

#define DOUBLE_OF_BFP	(	_vbfp,
		_frac
	)	((double)(_vbfp)/(1<<(_frac)))

Definition at line 207 of file pprz_algebra_int.h.

#define FLOAT_OF_BFP	(	_vbfp,
		_frac
	)	((float)(_vbfp)/(1<<(_frac)))

Definition at line 206 of file pprz_algebra_int.h.

Referenced by gain_scheduling_periodic().

#define INT32_ACCEL_FRAC 10

Definition at line 78 of file pprz_algebra_int.h.

Referenced by gh_set_ref(), guidance_h_update_reference(), gv_adapt_run(), gv_set_ref(), and run_hover_loop().

#define INT32_ANGLE_2_PI (int32_t)ANGLE_BFP_OF_REAL(2.*3.1415926535897932384626433832795029)

Definition at line 121 of file pprz_algebra_int.h.

#define INT32_ANGLE_FRAC 12

Definition at line 116 of file pprz_algebra_int.h.

Referenced by ahrs_icq_update_gps(), ahrs_icq_update_heading(), attitude_ref_euler_int_update(), get_psi_measurement_from_mag(), guidance_h_traj_run(), int32_atan2_2(), nav_circle(), reset_psi_ref_from_body(), stabilization_attitude_read_rc_setpoint_eulers(), stabilization_attitude_run(), and transition_run().

#define INT32_ANGLE_NORMALIZE ( _a )

Value:

{             \
    while ((_a) > INT32_ANGLE_PI)  (_a) -= INT32_ANGLE_2_PI;    \
    while ((_a) < -INT32_ANGLE_PI) (_a) += INT32_ANGLE_2_PI;    \
  }

Definition at line 126 of file pprz_algebra_int.h.

Referenced by ahrs_icq_update_heading(), ahrs_int_get_euler_from_accel_mag(), guidance_h_run(), guidance_h_set_guided_heading(), nav_circle(), OA_update(), pprz_itrig_sin(), stabilization_attitude_read_rc_setpoint_eulers(), and stabilization_attitude_run().

#define INT32_ANGLE_PI (int32_t)ANGLE_BFP_OF_REAL( 3.1415926535897932384626433832795029)

Definition at line 120 of file pprz_algebra_int.h.

Referenced by nav_circle(), and pprz_itrig_sin().

#define INT32_ANGLE_PI_2 (int32_t)ANGLE_BFP_OF_REAL( 1.5707963267948966192313216916397514)

Definition at line 119 of file pprz_algebra_int.h.

Referenced by guidance_h_traj_run(), pprz_itrig_cos(), pprz_itrig_sin(), and stabilization_attitude_get_heading_i().

#define INT32_ANGLE_PI_4 (int32_t)ANGLE_BFP_OF_REAL( 0.7853981633974483096156608458198757)

Definition at line 118 of file pprz_algebra_int.h.

Referenced by int32_atan2(), int32_atan2_2(), and nav_circle().

#define INT32_COURSE_NORMALIZE ( _a )

Value:

{                \
    while ((_a) < 0) (_a) += INT32_ANGLE_2_PI;                  \
    while ((_a) >= INT32_ANGLE_2_PI)  (_a) -= INT32_ANGLE_2_PI; \
  }

Definition at line 131 of file pprz_algebra_int.h.

Referenced by nav_set_heading_rad(), navigation_update_wp_from_speed(), rotorcraft_cam_periodic(), and stateCalcHorizontalSpeedDir_i().

#define INT32_DEG_OF_RAD ( _rad ) (int32_t)(((int64_t)(_rad) * 857374503)/14964008)

Definition at line 124 of file pprz_algebra_int.h.

#define INT32_EULERS_DOT_321_OF_RATES	(	_ed,
		_e,
		_r
	)	int32_eulers_dot_321_of_rates(&(_ed), &(_e), &(_r))

Definition at line 593 of file pprz_algebra_int.h.

#define int32_eulers_dot_of_rates int32_eulers_dot_321_of_rates

Definition at line 588 of file pprz_algebra_int.h.

Referenced by ahrs_ice_propagate().

#define INT32_EULERS_DOT_OF_RATES	(	_ed,
		_e,
		_r
	)	int32_eulers_dot_321_of_rates(&(_ed), &(_e), &(_r))

Definition at line 594 of file pprz_algebra_int.h.

#define INT32_EULERS_LSHIFT	(	_o,
		_i,
		_r
	)

Value:

{  \
    (_o).phi   = ((_i).phi   << (_r));     \
    (_o).theta = ((_i).theta << (_r));     \
    (_o).psi   = ((_i).psi   << (_r));     \
  }

Definition at line 553 of file pprz_algebra_int.h.

Referenced by attitude_ref_euler_int_update(), and stabilization_attitude_run().

#define INT32_EULERS_OF_QUAT	(	_e,
		_q
	)	int32_eulers_of_quat(&(_e), &(_q))

Definition at line 551 of file pprz_algebra_int.h.

#define INT32_EULERS_OF_RMAT	(	_e,
		_rm
	)	int32_eulers_of_rmat(&(_e), &(_rm))

Definition at line 550 of file pprz_algebra_int.h.

#define INT32_EULERS_RSHIFT	(	_o,
		_i,
		_r
	)

Value:

{  \
    (_o).phi   = ((_i).phi   >> (_r));     \
    (_o).theta = ((_i).theta >> (_r));     \
    (_o).psi   = ((_i).psi   >> (_r));     \
  }

Definition at line 559 of file pprz_algebra_int.h.

#define INT32_MAG_FRAC 11

Definition at line 79 of file pprz_algebra_int.h.

Referenced by ahrs_icq_update_mag_2d().

#define INT32_MAT33_DIAG	(	_m,
		_d00,
		_d11,
		_d22
	)

Value:

{    \
    MAT33_ELMT((_m), 0, 0) = (_d00);                \
    MAT33_ELMT((_m), 0, 1) = 0;                     \
    MAT33_ELMT((_m), 0, 2) = 0;                     \
    MAT33_ELMT((_m), 1, 0) = 0;                     \
    MAT33_ELMT((_m), 1, 1) = (_d11);                \
    MAT33_ELMT((_m), 1, 2) = 0;                     \
    MAT33_ELMT((_m), 2, 0) = 0;                     \
    MAT33_ELMT((_m), 2, 1) = 0;                     \
    MAT33_ELMT((_m), 2, 2) = (_d22);                \
  }

Definition at line 326 of file pprz_algebra_int.h.

Referenced by int32_rmat_identity().

#define INT32_MAT33_ZERO ( _m )

Value:

{                      \
    MAT33_ELMT((_m), 0, 0) = 0;                     \
    MAT33_ELMT((_m), 0, 1) = 0;                     \
    MAT33_ELMT((_m), 0, 2) = 0;                     \
    MAT33_ELMT((_m), 1, 0) = 0;                     \
    MAT33_ELMT((_m), 1, 1) = 0;                     \
    MAT33_ELMT((_m), 1, 2) = 0;                     \
    MAT33_ELMT((_m), 2, 0) = 0;                     \
    MAT33_ELMT((_m), 2, 1) = 0;                     \
    MAT33_ELMT((_m), 2, 2) = 0;                     \
  }

Definition at line 314 of file pprz_algebra_int.h.

Referenced by georeference_project().

#define INT32_PERCENTAGE_FRAC 10

Definition at line 81 of file pprz_algebra_int.h.

Referenced by guidance_h_run(), and transition_run().

#define INT32_POS_FRAC 8

Definition at line 68 of file pprz_algebra_int.h.

Referenced by ecef_of_enu_pos_i(), enu_of_ecef_pos_i(), gh_set_ref(), gh_update_ref_from_pos_sp(), guidance_h_traj_run(), guidance_h_update_reference(), gv_set_ref(), gv_update_ref_from_z_sp(), gv_update_ref_from_zd_sp(), hott_update_eam_msg(), nav_approaching_from(), nav_check_wp_time(), nav_route(), navigation_update_wp_from_speed(), rotorcraft_cam_periodic(), and run_hover_loop().

#define INT32_POS_OF_CM 2.56

Definition at line 69 of file pprz_algebra_int.h.

#define INT32_POS_OF_CM_DEN 25

Definition at line 71 of file pprz_algebra_int.h.

Referenced by follow_change_wp(), gps_cb(), gps_sim_hitl_event(), and ins_int_update_gps().

#define INT32_POS_OF_CM_NUM 64

Definition at line 70 of file pprz_algebra_int.h.

Referenced by follow_change_wp(), gps_cb(), gps_sim_hitl_event(), and ins_int_update_gps().

#define INT32_QUAT_COMP	(	_a2c,
		_a2b,
		_b2c
	)	int32_quat_comp(&(_a2c), &(_a2b), &(_b2c))

Definition at line 525 of file pprz_algebra_int.h.

#define INT32_QUAT_COMP_INV	(	_a2b,
		_a2c,
		_b2c
	)	int32_quat_comp_inv(&(_a2b), &(_a2c), &(_b2c))

Definition at line 526 of file pprz_algebra_int.h.

#define INT32_QUAT_COMP_NORM_SHORTEST	(	_a2c,
		_a2b,
		_b2c
	)	int32_quat_comp_norm_shortest(&(_a2c), &(_a2b), &(_b2c))

Definition at line 528 of file pprz_algebra_int.h.

#define INT32_QUAT_DERIVATIVE	(	_qd,
		_r,
		_q
	)	int32_quat_derivative(&(_qd), &(_r), &(_q))

Definition at line 530 of file pprz_algebra_int.h.

#define INT32_QUAT_FRAC 15

Definition at line 95 of file pprz_algebra_int.h.

Referenced by attitude_ref_quat_int_update(), int32_eulers_of_quat(), int32_quat_comp(), int32_quat_comp_inv(), int32_quat_inv_comp(), int32_quat_of_eulers(), int32_quat_of_rmat(), int32_quat_vmult(), and int32_rmat_of_quat().

#define INT32_QUAT_INTEGRATE_FI	(	_q,
		_hr,
		_omega,
		_f
	)	int32_quat_integrate_fi(&(_q), &(_hr), &(_omega), _f)

Definition at line 531 of file pprz_algebra_int.h.

#define INT32_QUAT_INV_COMP	(	_b2c,
		_a2b,
		_a2c
	)	int32_quat_inv_comp(&(_b2c), &(_a2b), &(_a2c))

Definition at line 527 of file pprz_algebra_int.h.

Referenced by stabilization_attitude_run().

#define INT32_QUAT_INV_COMP_NORM_SHORTEST	(	_b2c,
		_a2b,
		_a2c
	)	int32_quat_inv_comp_norm_shortest(&(_b2c), &(_a2b), &(_a2c))

Definition at line 529 of file pprz_algebra_int.h.

#define INT32_QUAT_NORM	(	n,
		q
	)	{ n = int32_quat_norm(&(q)); }

Definition at line 522 of file pprz_algebra_int.h.

#define INT32_QUAT_NORMALIZE ( q ) int32_quat_normalize(&(q))

Definition at line 524 of file pprz_algebra_int.h.

#define INT32_QUAT_OF_AXIS_ANGLE	(	_q,
		_uv,
		_an
	)	int32_quat_of_axis_angle(&(_q), &(_uv), _an)

Definition at line 534 of file pprz_algebra_int.h.

#define INT32_QUAT_OF_EULERS	(	_q,
		_e
	)	int32_quat_of_eulers(&(_q), &(_e))

Definition at line 533 of file pprz_algebra_int.h.

#define INT32_QUAT_OF_RMAT	(	_q,
		_r
	)	int32_quat_of_rmat(&(_q), &(_r))

Definition at line 535 of file pprz_algebra_int.h.

#define INT32_QUAT_VMULT	(	v_out,
		q,
		v_in
	)	int32_quat_vmult(&(v_out), &(q), &(v_in))

Definition at line 532 of file pprz_algebra_int.h.

#define INT32_QUAT_WRAP_SHORTEST ( q ) int32_quat_wrap_shortest(&(q))

Definition at line 523 of file pprz_algebra_int.h.

#define INT32_QUAT_ZERO ( _q ) int32_quat_identity(&(_q))

Definition at line 521 of file pprz_algebra_int.h.

#define INT32_RAD_OF_DEG ( _deg ) (int32_t)(((int64_t)(_deg) * 14964008)/857374503)

Definition at line 123 of file pprz_algebra_int.h.

#define INT32_RATE_FRAC 12

Definition at line 117 of file pprz_algebra_int.h.

Referenced by attitude_ref_quat_int_update(), int32_quat_derivative(), int32_quat_integrate_fi(), and stabilization_attitude_run().

#define INT32_RATES_OF_EULERS_DOT	(	_r,
		_e,
		_ed
	)	int32_rates_of_eulers_dot_321(&(_r), &(_e), &(_ed))

Definition at line 592 of file pprz_algebra_int.h.

#define INT32_RATES_OF_EULERS_DOT_321	(	_r,
		_e,
		_ed
	)	int32_rates_of_eulers_dot_321(&(_r), &(_e), &(_ed))

Definition at line 591 of file pprz_algebra_int.h.

#define INT32_RMAT_COMP	(	_m_a2c,
		_m_a2b,
		_m_b2c
	)	int32_rmat_comp(&(_m_a2c), &(_m_a2b), &(_m_b2c))

Definition at line 410 of file pprz_algebra_int.h.

#define INT32_RMAT_COMP_INV	(	_m_a2b,
		_m_a2c,
		_m_b2c
	)	int32_rmat_comp_inv(&(_m_a2b), &(_m_a2c), &(_m_b2c))

Definition at line 411 of file pprz_algebra_int.h.

#define int32_rmat_of_eulers int32_rmat_of_eulers_321

Rotation matrix from Euler angles.

Definition at line 407 of file pprz_algebra_int.h.

Referenced by orientationCalcRMat_i(), and set_body_state_from_euler().

#define INT32_RMAT_OF_EULERS	(	_rm,
		_e
	)	int32_rmat_of_eulers_321(&(_rm), &(_e))

Definition at line 418 of file pprz_algebra_int.h.

#define INT32_RMAT_OF_EULERS_312	(	_rm,
		_e
	)	int32_rmat_of_eulers_312(&(_rm), &(_e))

Definition at line 420 of file pprz_algebra_int.h.

#define INT32_RMAT_OF_EULERS_321	(	_rm,
		_e
	)	int32_rmat_of_eulers_321(&(_rm), &(_e))

Definition at line 419 of file pprz_algebra_int.h.

#define INT32_RMAT_OF_QUAT	(	_rm,
		_q
	)	int32_rmat_of_quat(&(_rm), &(_q))

Definition at line 417 of file pprz_algebra_int.h.

#define INT32_RMAT_RATEMULT	(	_rb,
		_m_a2b,
		_ra
	)	int32_rmat_ratemult(&(_rb), &(_m_a2b), &(_ra))

Definition at line 414 of file pprz_algebra_int.h.

#define INT32_RMAT_TRANSP_RATEMULT	(	_rb,
		_m_b2a,
		_ra
	)	int32_rmat_ratemult(&(_rb), &(_m_b2a), &(_ra))

Definition at line 415 of file pprz_algebra_int.h.

#define INT32_RMAT_TRANSP_VMULT	(	_vb,
		_m_b2a,
		_va
	)	int32_rmat_transp_vmult(&(_vb), &(_m_b2a), &(_va))

Definition at line 413 of file pprz_algebra_int.h.

#define INT32_RMAT_VMULT	(	_vb,
		_m_a2b,
		_va
	)	int32_rmat_vmult(&(_vb), &(_m_a2b), &(_va))

Definition at line 412 of file pprz_algebra_int.h.

#define INT32_SPEED_FRAC 19

Definition at line 73 of file pprz_algebra_int.h.

Referenced by gh_set_ref(), gh_update_ref_from_speed_sp(), guidance_h_traj_run(), guidance_h_update_reference(), gv_adapt_run(), gv_set_ref(), gv_update_ref_from_zd_sp(), hott_update_eam_msg(), nav_approaching_from(), navigation_update_wp_from_speed(), run_hover_loop(), and stateCalcHorizontalSpeedNorm_i().

#define INT32_SPEED_OF_CM_S 5242.88

Definition at line 74 of file pprz_algebra_int.h.

#define INT32_SPEED_OF_CM_S_DEN 8

Definition at line 76 of file pprz_algebra_int.h.

Referenced by gps_cb(), gps_sim_hitl_event(), and ins_int_update_gps().

#define INT32_SPEED_OF_CM_S_NUM 41943

Definition at line 75 of file pprz_algebra_int.h.

Referenced by gps_cb(), gps_sim_hitl_event(), and ins_int_update_gps().

#define INT32_SQRT	(	_out,
		_in
	)	{ _out = int32_sqrt(_in); }

Definition at line 229 of file pprz_algebra_int.h.

Referenced by stateCalcHorizontalSpeedNorm_i().

#define INT32_TRIG_FRAC 14

Definition at line 154 of file pprz_algebra_int.h.

Referenced by ahrs_int_get_euler_from_accel_mag(), georeference_project(), get_phi_theta_measurement_fom_accel(), get_psi_measurement_from_mag(), get_vertical_thrust_coeff(), gh_compute_ref_max(), gh_compute_ref_max_accel(), gh_compute_ref_max_speed(), guidance_h_traj_run(), guidance_v_run(), int32_eulers_dot_321_of_rates(), int32_eulers_of_quat(), int32_quat_of_eulers(), int32_quat_of_rmat(), int32_rates_of_eulers_dot_321(), int32_rmat_comp(), int32_rmat_comp_inv(), int32_rmat_of_eulers_312(), int32_rmat_of_eulers_321(), int32_rmat_of_quat(), int32_rmat_ratemult(), int32_rmat_transp_ratemult(), int32_rmat_transp_vmult(), int32_rmat_vmult(), nav_circle(), navigation_update_wp_from_speed(), read_rc_setpoint_speed_i(), run_hover_loop(), stabilization_attitude_get_heading_i(), and stabilization_attitude_set_earth_cmd_i().

#define INT32_VECT2_LSHIFT	(	_o,
		_i,
		_l
	)

Value:

{ \
    (_o).x = ((_i).x << (_l)); \
    (_o).y = ((_i).y << (_l)); \
  }

Definition at line 272 of file pprz_algebra_int.h.

Referenced by gh_compute_ref_max(), gh_compute_ref_max_speed(), and guidance_h_update_reference().

#define INT32_VECT2_NORM ( _v ) int32_sqrt(VECT2_NORM2(_v))

Definition at line 239 of file pprz_algebra_int.h.

Referenced by rotorcraft_cam_periodic().

#define INT32_VECT2_NORMALIZE	(	_v,
		_frac
	)	int32_vect2_normalize(&(_v), _frac)

Definition at line 264 of file pprz_algebra_int.h.

#define INT32_VECT2_RSHIFT	(	_o,
		_i,
		_r
	)

Value:

{ \
    (_o).x = ((_i).x >> (_r)); \
    (_o).y = ((_i).y >> (_r)); \
  }

Definition at line 267 of file pprz_algebra_int.h.

Referenced by gh_set_ref(), gh_update_ref_from_pos_sp(), gh_update_ref_from_speed_sp(), guidance_h_update_reference(), nav_approaching_from(), nav_check_wp_time(), nav_circle(), nav_route(), and rotorcraft_cam_periodic().

#define INT32_VECT2_SCALE_2	(	_a,
		_b,
		_num,
		_den
	)

Value:

{   \
    (_a).x = ((_b).x * (_num)) / (_den);        \
    (_a).y = ((_b).y * (_num)) / (_den);        \
  }

Definition at line 277 of file pprz_algebra_int.h.

Referenced by ins_int_update_gps().

#define INT32_VECT3_LSHIFT	(	_o,
		_i,
		_l
	)

Value:

{ \
    (_o).x = ((_i).x << (_l));       \
    (_o).y = ((_i).y << (_l));       \
    (_o).z = ((_i).z << (_l));       \
  }

Definition at line 303 of file pprz_algebra_int.h.

Referenced by enu_of_ecef_pos_i(), and georeference_project().

#define INT32_VECT3_NORM ( _v ) int32_sqrt(VECT3_NORM2(_v))

Definition at line 295 of file pprz_algebra_int.h.

#define INT32_VECT3_RSHIFT	(	_o,
		_i,
		_r
	)

Value:

{ \
    (_o).x = ((_i).x >> (_r));       \
    (_o).y = ((_i).y >> (_r));       \
    (_o).z = ((_i).z >> (_r));       \
  }

Definition at line 297 of file pprz_algebra_int.h.

Referenced by ahrs_icq_update_accel(), ecef_of_enu_pos_i(), and navigation_update_wp_from_speed().

#define INT32_VECT3_SCALE_2	(	_a,
		_b,
		_num,
		_den
	)

Value:

{   \
    (_a).x = ((_b).x * (_num)) / (_den);        \
    (_a).y = ((_b).y * (_num)) / (_den);        \
    (_a).z = ((_b).z * (_num)) / (_den);        \
  }

Definition at line 289 of file pprz_algebra_int.h.

Referenced by follow_change_wp(), and gps_cb().

#define INT32_VECT3_ZERO ( _v ) VECT3_ASSIGN(_v, 0, 0, 0)

Definition at line 287 of file pprz_algebra_int.h.

Referenced by georeference_init(), ins_gps_passthrough_init(), ins_int_init(), and ins_vectornav_init().

#define INT_EULERS_ZERO ( _e ) EULERS_ASSIGN(_e, 0, 0, 0)

Definition at line 544 of file pprz_algebra_int.h.

Referenced by ahrs_ice_init(), attitude_ref_euler_int_init(), attitude_ref_quat_int_init(), guidance_h_init(), guidance_h_read_rc(), int32_eulers_dot_321_of_rates(), stabilization_attitude_enter(), stabilization_attitude_init(), stabilization_attitude_run(), vi_init(), and vi_periodic().

#define INT_MULT_RSHIFT	(	_a,
		_b,
		_r
	)	(((_a)*(_b))>>(_r))

Definition at line 225 of file pprz_algebra_int.h.

Referenced by ahrs_int_get_euler_from_accel_mag(), get_phi_theta_measurement_fom_accel(), gh_compute_ref_max(), gh_compute_ref_max_accel(), gh_compute_ref_max_speed(), int32_eulers_dot_321_of_rates(), int32_eulers_of_quat(), int32_quat_of_eulers(), int32_rates_of_eulers_dot_321(), int32_rmat_of_eulers_312(), int32_rmat_of_eulers_321(), int32_rmat_of_quat(), stabilization_attitude_get_heading_i(), stabilization_attitude_read_rc_setpoint_eulers(), and transition_run().

#define INT_RATES_LSHIFT	(	_o,
		_i,
		_r
	)

Value:

{   \
    (_o).p = ((_i).p << (_r));       \
    (_o).q = ((_i).q << (_r));       \
    (_o).r = ((_i).r << (_r));       \
  }

Definition at line 578 of file pprz_algebra_int.h.

Referenced by ahrs_icq_align().

#define INT_RATES_RSHIFT	(	_o,
		_i,
		_r
	)

Value:

{   \
    (_o).p = ((_i).p >> (_r));       \
    (_o).q = ((_i).q >> (_r));       \
    (_o).r = ((_i).r >> (_r));       \
  }

Definition at line 572 of file pprz_algebra_int.h.

Referenced by ahrs_icq_update_accel(), ahrs_icq_update_heading(), ahrs_icq_update_mag_2d(), and ahrs_icq_update_mag_full().

#define INT_RATES_ZERO ( _e ) RATES_ASSIGN(_e, 0, 0, 0)

Definition at line 570 of file pprz_algebra_int.h.

Referenced by ahrs_aligner_init(), ahrs_aligner_run(), ahrs_ice_init(), ahrs_icq_init(), ahrs_icq_propagate(), attitude_ref_euler_int_init(), attitude_ref_quat_int_init(), stabilization_attitude_run(), stabilization_none_enter(), stabilization_none_init(), stabilization_rate_enter(), stabilization_rate_init(), and stabilization_rate_run().

#define INT_VECT2_ZERO ( _v ) VECT2_ASSIGN(_v, 0, 0)

Definition at line 236 of file pprz_algebra_int.h.

Referenced by gps_sim_hitl_event(), guidance_h_init(), guidance_h_set_igain(), guidance_h_traj_run(), guidance_h_update_reference(), and reset_guidance_reference_from_current_position().

#define INT_VECT3_ZERO ( _v ) VECT3_ASSIGN(_v, 0, 0, 0)

Definition at line 286 of file pprz_algebra_int.h.

Referenced by ahrs_aligner_init(), ahrs_aligner_run(), imu_init(), imu_periodic(), ms2100_init(), and nav_check_wp_time().

#define MAG_BFP_OF_REAL ( _af ) BFP_OF_REAL((_af), INT32_MAG_FRAC)

Definition at line 222 of file pprz_algebra_int.h.

Referenced by ahrs_icq_init(), geo_mag_cb(), and handle_ins_msg().

#define MAG_FLOAT_OF_BFP ( _ai ) FLOAT_OF_BFP((_ai), INT32_MAG_FRAC)

Definition at line 223 of file pprz_algebra_int.h.

Referenced by ahrs_dcm_update_mag().

#define POS_BFP_OF_REAL ( _af ) BFP_OF_REAL((_af), INT32_POS_FRAC)

Definition at line 216 of file pprz_algebra_int.h.

Referenced by dc_send_command(), follow_change_wp(), guidance_h_set_guided_pos(), guidance_v_set_guided_z(), ins_update_from_vff(), mission_nav_circle(), nav_init(), nav_set_altitude(), run_avoid_navigation_onvision(), waypoint_localize(), and waypoint_set_alt().

#define POS_FLOAT_OF_BFP ( _ai ) FLOAT_OF_BFP((_ai), INT32_POS_FRAC)

Definition at line 217 of file pprz_algebra_int.h.

Referenced by get_dist2_to_point(), guidance_indi_run(), mission_nav_circle(), mission_nav_path(), mission_nav_segment(), mission_nav_wp(), waypoint_set_alt_i(), and waypoint_set_xy_i().

#define QUAT1_BFP_OF_REAL ( _qf ) BFP_OF_REAL((_qf), INT32_QUAT_FRAC)

Definition at line 212 of file pprz_algebra_int.h.

Referenced by int32_quat_identity(), int32_quat_normalize(), and int32_quat_vmult().

#define QUAT1_FLOAT_OF_BFP ( _qi ) FLOAT_OF_BFP((_qi), INT32_QUAT_FRAC)

Definition at line 213 of file pprz_algebra_int.h.

Referenced by attitude_run_fb(), and attitude_run_indi().

#define RATE_BFP_OF_REAL ( _af ) BFP_OF_REAL((_af), INT32_RATE_FRAC)

Definition at line 208 of file pprz_algebra_int.h.

Referenced by handle_ins_msg(), stabilization_rate_read_rc(), and stabilization_rate_read_rc_switched_sticks().

#define RATE_FLOAT_OF_BFP ( _ai ) FLOAT_OF_BFP((_ai), INT32_RATE_FRAC)

Definition at line 209 of file pprz_algebra_int.h.

Referenced by ArduIMU_event(), attitude_run_fb(), and attitude_run_ff().

#define SPEED_BFP_OF_REAL ( _af ) BFP_OF_REAL((_af), INT32_SPEED_FRAC)

Definition at line 218 of file pprz_algebra_int.h.

Referenced by ahrs_icq_update_gps(), autopilot_set_mode(), guidance_v_read_rc(), ins_update_from_vff(), read_rc_setpoint_speed_i(), stateCalcAirspeed_i(), stateCalcHorizontalSpeedDir_i(), stateCalcHorizontalSpeedNorm_i(), stateCalcHorizontalWindspeed_i(), and vel_est_cb().

#define SPEED_FLOAT_OF_BFP ( _ai ) FLOAT_OF_BFP((_ai), INT32_SPEED_FRAC)

Definition at line 219 of file pprz_algebra_int.h.

Referenced by stateCalcAirspeed_f(), stateCalcHorizontalSpeedDir_f(), stateCalcHorizontalSpeedNorm_f(), and stateCalcHorizontalWindspeed_f().

#define TRIG_BFP_OF_REAL ( _tf ) BFP_OF_REAL((_tf), INT32_TRIG_FRAC)

Definition at line 214 of file pprz_algebra_int.h.

Referenced by ahrs_icq_update_heading(), int32_eulers_of_quat(), int32_quat_of_rmat(), int32_rmat_identity(), and int32_rmat_of_quat().

#define TRIG_FLOAT_OF_BFP ( _ti ) FLOAT_OF_BFP((_ti),INT32_TRIG_FRAC)

Definition at line 215 of file pprz_algebra_int.h.

Referenced by int32_eulers_of_rmat().

Function Documentation

void int32_eulers_dot_321_of_rates	(	struct Int32Eulers *	ed,
		struct Int32Eulers *	e,
		struct Int32Rates *	r
	)

Definition at line 564 of file pprz_algebra_int.c.

References INT32_TRIG_FRAC, INT_EULERS_ZERO, INT_MULT_RSHIFT, Int32Rates::p, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, Int32Rates::q, Int32Rates::r, and Int32Eulers::theta.

void int32_eulers_of_quat	(	struct Int32Eulers *	e,
		struct Int32Quat *	q
	)

Definition at line 495 of file pprz_algebra_int.c.

References ANGLE_BFP_OF_REAL, INT32_QUAT_FRAC, INT32_TRIG_FRAC, INT_MULT_RSHIFT, Int32Eulers::phi, Int32Eulers::psi, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, Int32Eulers::theta, and TRIG_BFP_OF_REAL.

Referenced by attitude_ref_quat_int_update(), and orientationCalcEulers_i().

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void int32_eulers_of_rmat	(	struct Int32Eulers *	e,
		struct Int32RMat *	rm
	)

Definition at line 480 of file pprz_algebra_int.c.

References ANGLE_BFP_OF_REAL, Int32RMat::m, Int32Eulers::phi, Int32Eulers::psi, Int32Eulers::theta, and TRIG_FLOAT_OF_BFP.

Referenced by orientationCalcEulers_i().

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void int32_quat_comp	(	struct Int32Quat *	a2c,
		struct Int32Quat *	a2b,
		struct Int32Quat *	b2c
	)

Composition (multiplication) of two quaternions.

a2c = a2b comp b2c , aka a2c = a2b * b2c

Definition at line 253 of file pprz_algebra_int.c.

References INT32_QUAT_FRAC, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, and Int32Quat::qz.

Referenced by ahrs_icq_realign_heading(), and int32_quat_comp_norm_shortest().

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void int32_quat_comp_inv	(	struct Int32Quat *	a2b,
		struct Int32Quat *	a2c,
		struct Int32Quat *	b2c
	)

Composition (multiplication) of two quaternions.

a2b = a2c comp_inv b2c , aka a2b = a2c * inv(b2c)

Definition at line 261 of file pprz_algebra_int.c.

References INT32_QUAT_FRAC, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, and Int32Quat::qz.

Referenced by ahrs_icq_realign_heading(), ahrs_icq_update_heading(), int32_quat_comp_inv_norm_shortest(), and set_body_state_from_quat().

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void int32_quat_comp_inv_norm_shortest	(	struct Int32Quat *	a2b,
		struct Int32Quat *	a2c,
		struct Int32Quat *	b2c
	)

Composition (multiplication) of two quaternions with normalization.

a2b = a2c comp_inv b2c , aka a2b = a2c * inv(b2c)

Definition at line 284 of file pprz_algebra_int.c.

References int32_quat_comp_inv(), int32_quat_normalize(), and int32_quat_wrap_shortest().

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void int32_quat_comp_norm_shortest	(	struct Int32Quat *	a2c,
		struct Int32Quat *	a2b,
		struct Int32Quat *	b2c
	)

Composition (multiplication) of two quaternions with normalization.

a2c = a2b comp b2c , aka a2c = a2b * b2c

Definition at line 277 of file pprz_algebra_int.c.

References int32_quat_comp(), int32_quat_normalize(), and int32_quat_wrap_shortest().

Referenced by ahrs_icq_realign_heading().

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void int32_quat_derivative	(	struct Int32Quat *	qd,
		const struct Int32Rates *	r,
		struct Int32Quat *	q
	)

Quaternion derivative from rotational velocity.

qd = -0.5*omega(r) * q or equally: qd = 0.5 * q * omega(r)

qd = -0.5*omega(r) * q or equally: qd = 0.5 * q * omega(r) Multiplication with 0.5 is done by shifting one more bit to the right.

Definition at line 304 of file pprz_algebra_int.c.

References INT32_RATE_FRAC, Int32Rates::p, Int32Rates::q, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, and Int32Rates::r.

Referenced by attitude_ref_quat_int_update().

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static void int32_quat_identity ( struct Int32Quat * q )

inlinestatic

initialises a quaternion to identity

Definition at line 430 of file pprz_algebra_int.h.

References Int32Quat::qi, QUAT1_BFP_OF_REAL, Int32Quat::qx, Int32Quat::qy, and Int32Quat::qz.

Referenced by ahrs_icq_init(), attitude_ref_quat_int_init(), orientationSetIdentity(), stabilization_attitude_enter(), stabilization_attitude_init(), and stabilization_attitude_run().

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void int32_quat_integrate_fi	(	struct Int32Quat *	q,
		struct Int64Quat *	hr,
		struct Int32Rates *	omega,
		int	freq
	)

in place quaternion first order integration with constant rotational velocity.

Definition at line 313 of file pprz_algebra_int.c.

References INT32_RATE_FRAC, Int32Rates::p, Int32Rates::q, Int32Quat::qi, Int64Quat::qi, Int32Quat::qx, Int64Quat::qx, Int32Quat::qy, Int64Quat::qy, Int32Quat::qz, Int64Quat::qz, and Int32Rates::r.

Referenced by ahrs_icq_propagate().

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void int32_quat_inv_comp	(	struct Int32Quat *	b2c,
		struct Int32Quat *	a2b,
		struct Int32Quat *	a2c
	)

Composition (multiplication) of two quaternions.

b2c = a2b inv_comp a2c , aka b2c = inv(_a2b) * a2c

Definition at line 269 of file pprz_algebra_int.c.

References INT32_QUAT_FRAC, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, and Int32Quat::qz.

Referenced by attitude_ref_quat_int_update(), int32_quat_inv_comp_norm_shortest(), and stabilization_attitude_run().

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void int32_quat_inv_comp_norm_shortest	(	struct Int32Quat *	b2c,
		struct Int32Quat *	a2b,
		struct Int32Quat *	a2c
	)

Composition (multiplication) of two quaternions with normalization.

b2c = a2b inv_comp a2c , aka b2c = inv(_a2b) * a2c

Definition at line 291 of file pprz_algebra_int.c.

References int32_quat_inv_comp(), int32_quat_normalize(), and int32_quat_wrap_shortest().

Referenced by ahrs_icq_realign_heading().

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static uint32_t int32_quat_norm ( struct Int32Quat * q )

inlinestatic

Norm of a quaternion.

Definition at line 440 of file pprz_algebra_int.h.

References int32_sqrt(), Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, and Int32Quat::qz.

Referenced by int32_quat_normalize().

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static void int32_quat_normalize ( struct Int32Quat * q )

inlinestatic

normalize a quaternion inplace

Definition at line 454 of file pprz_algebra_int.h.

References int32_quat_norm(), Int32Quat::qi, QUAT1_BFP_OF_REAL, Int32Quat::qx, Int32Quat::qy, and Int32Quat::qz.

Referenced by ahrs_icq_propagate(), ahrs_icq_realign_heading(), attitude_ref_quat_int_update(), int32_quat_comp_inv_norm_shortest(), int32_quat_comp_norm_shortest(), int32_quat_inv_comp_norm_shortest(), and stabilization_attitude_run().

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void int32_quat_of_axis_angle	(	struct Int32Quat *	q,
		struct Int32Vect3 *	uv,
		int32_t	angle
	)

Quaternion from unit vector and angle.

Definition at line 393 of file pprz_algebra_int.c.

References PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

void int32_quat_of_eulers	(	struct Int32Quat *	q,
		struct Int32Eulers *	e
	)

Quaternion from Euler angles.

Definition at line 359 of file pprz_algebra_int.c.

References INT32_QUAT_FRAC, INT32_TRIG_FRAC, INT_MULT_RSHIFT, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, and Int32Eulers::theta.

Referenced by attitude_ref_quat_int_enter(), orientationCalcQuat_i(), and stabilization_attitude_set_rpy_setpoint_i().

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void int32_quat_of_rmat	(	struct Int32Quat *	q,
		struct Int32RMat *	r
	)

Quaternion from rotation matrix.

Definition at line 405 of file pprz_algebra_int.c.

References INT32_QUAT_FRAC, int32_sqrt(), INT32_TRIG_FRAC, Int32Quat::qi, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, RMAT_ELMT, RMAT_TRACE, and TRIG_BFP_OF_REAL.

Referenced by orientationCalcQuat_i().

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void int32_quat_vmult	(	struct Int32Vect3 *	v_out,
		struct Int32Quat *	q,
		struct Int32Vect3 *	v_in
	)

rotate 3D vector by quaternion.

vb = q_a2b * va * q_a2b^-1 Doesn't support inplace rotation, meaning v_out mustn't be a pointer to same struct as v_in.

Definition at line 337 of file pprz_algebra_int.c.

References INT32_QUAT_FRAC, Int32Quat::qi, QUAT1_BFP_OF_REAL, Int32Quat::qx, Int32Quat::qy, Int32Quat::qz, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by ins_int_update_gps().

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static void int32_quat_wrap_shortest ( struct Int32Quat * q )

inlinestatic

Definition at line 446 of file pprz_algebra_int.h.

References Int32Quat::qi, and QUAT_EXPLEMENTARY.

Referenced by attitude_ref_quat_int_enter(), attitude_ref_quat_int_update(), int32_quat_comp_inv_norm_shortest(), int32_quat_comp_norm_shortest(), int32_quat_inv_comp_norm_shortest(), and stabilization_attitude_run().

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void int32_rates_of_eulers_dot_321	(	struct Int32Rates *	r,
		struct Int32Eulers *	e,
		struct Int32Eulers *	ed
	)

Definition at line 545 of file pprz_algebra_int.c.

References INT32_TRIG_FRAC, INT_MULT_RSHIFT, Int32Rates::p, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, Int32Rates::q, Int32Rates::r, and Int32Eulers::theta.

void int32_rmat_comp	(	struct Int32RMat *	m_a2c,
		struct Int32RMat *	m_a2b,
		struct Int32RMat *	m_b2c
	)

Composition (multiplication) of two rotation matrices.

m_a2c = m_a2b comp m_b2c , aka m_a2c = m_b2c * m_a2b

_m_a2c = _m_a2b comp _m_b2c , aka _m_a2c = _m_b2c * _m_a2b

Definition at line 59 of file pprz_algebra_int.c.

References INT32_TRIG_FRAC, and Int32RMat::m.

void int32_rmat_comp_inv	(	struct Int32RMat *	m_a2b,
		struct Int32RMat *	m_a2c,
		struct Int32RMat *	m_b2c
	)

Composition (multiplication) of two rotation matrices.

m_a2b = m_a2c comp_inv m_b2c , aka m_a2b = inv(_m_b2c) * m_a2c

_m_a2b = _m_a2c comp_inv _m_b2c , aka _m_a2b = inv(_m_b2c) * _m_a2c

Definition at line 75 of file pprz_algebra_int.c.

References INT32_TRIG_FRAC, and Int32RMat::m.

Referenced by set_body_state_from_euler().

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static void int32_rmat_identity ( struct Int32RMat * rm )

inlinestatic

initialises a rotation matrix to identity

Definition at line 345 of file pprz_algebra_int.h.

References INT32_MAT33_DIAG, and TRIG_BFP_OF_REAL.

void int32_rmat_of_eulers_312	(	struct Int32RMat *	rm,
		struct Int32Eulers *	e
	)

Rotation matrix from 312 Euler angles.

Definition at line 204 of file pprz_algebra_int.c.

References INT32_TRIG_FRAC, INT_MULT_RSHIFT, Int32Eulers::phi, PPRZ_ITRIG_COS, PPRZ_ITRIG_SIN, Int32Eulers::psi, RMAT_ELMT, and Int32Eulers::theta.

void int32_rmat_of_eulers_321	(	struct Int32RMat *	rm,
		struct Int32Eulers *	e
	)

Rotation matrix from 321 Euler angles (int).

The Euler angles are interpreted as zy'x'' (intrinsic) rotation. First rotate around z with psi, then around the new y' with theta, then around new x'' with phi. This is the same as a xyz (extrinsic) rotation, rotating around the fixed x, then y then z axis.

psi range: -pi < psi <= pi
theta range: -pi/2 <= theta <= pi/2
phi range: -pi < phi <= pi
Parameters

[out] rm pointer to rotation matrix

[in] e pointer to Euler angles

Rotation matrix from 321 Euler angles (int).