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matlab: Fix derivation for 321 Euler rotation sequence

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Paul Riseborough
2017-07-21 10:48:54 +10:00
parent 26b5f26891
commit 5aeeebf7ac
2 changed files with 2 additions and 2 deletions
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matlab/scripts/Inertial Nav EKF/quat2yaw321.m
+1 -1
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@@ -22,7 +22,7 @@ syms q0 q1 q2 q3 'real'
Tbn_quat = Quat2Tbn([q0;q1;q2;q3]); Tbn_quat = Quat2Tbn([q0;q1;q2;q3]);
% calculate the y,x terms required for calculation fo the yaw angle % calculate the y,x terms required for calculation fo the yaw angle
yaw_input_321 = [Tbn_quat(1,2);Tbn_quat(1,1)]; yaw_input_321 = [Tbn_quat(2,1);Tbn_quat(1,1)];
% convert to c code and save % convert to c code and save
ccode(yaw_input_321,'file','yaw_input_321.c'); ccode(yaw_input_321,'file','yaw_input_321.c');
matlab/scripts/Inertial Nav EKF/yaw_input_321.c
+1 -1
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@@ -1,2 +1,2 @@
A0[0][0] = q0*q3*-2.0+q1*q2*2.0; A0[0][0] = q0*q3*2.0+q1*q2*2.0;
A0[1][0] = q0*q0+q1*q1-q2*q2-q3*q3; A0[1][0] = q0*q0+q1*q1-q2*q2-q3*q3;