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ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters (#13249)

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* Conversions lib: add quaternion getter

* vehicle_status: add flag is_vtol_tailsitter

* ATTITUDE_QUATERNION: fill repr_offset_q for tailsitters
This commit is contained in:
Julien Lecoeur
2019-10-28 09:27:53 +01:00
committed by Julian Oes
parent 380cae18d1
commit 8f910f8435
7 changed files with 50 additions and 2 deletions
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src/lib/conversion/rotation.cpp
+9
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@@ -50,6 +50,15 @@ get_rot_matrix(enum Rotation rot)
math::radians((float)rot_lookup[rot].yaw)}};
}
__EXPORT matrix::Quatf
get_rot_quaternion(enum Rotation rot)
{
return matrix::Quatf{matrix::Eulerf{
math::radians((float)rot_lookup[rot].roll),
math::radians((float)rot_lookup[rot].pitch),
math::radians((float)rot_lookup[rot].yaw)}};
}
__EXPORT void
rotate_3f(enum Rotation rot, float &x, float &y, float &z)
{
src/lib/conversion/rotation.h
+7 -1
View File
@@ -136,8 +136,14 @@ const rot_lookup_t rot_lookup[] = {
/**
* Get the rotation matrix
*/
__EXPORT matrix::Dcmf
get_rot_matrix(enum Rotation rot);
__EXPORT matrix::Dcmf get_rot_matrix(enum Rotation rot);
/**
* Get the rotation quaternion
*/
__EXPORT matrix::Quatf
get_rot_quaternion(enum Rotation rot);
/**
* rotate a 3 element float vector in-place