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add functions to compute yaw (321 and 312 sequence)

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from quaternion and rotation matrix
This commit is contained in:
Kamil Ritz
2020-08-15 13:52:56 +02:00
committed by Paul Riseborough
parent 15afa8ae17
commit fdc86c247a
9 changed files with 60 additions and 32 deletions
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EKF/airspeed_fusion.cpp
+1 -2
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@@ -182,8 +182,7 @@ void Ekf::get_true_airspeed(float *tas)
*/
void Ekf::resetWindStates()
{
const Eulerf euler321(_state.quat_nominal);
const float euler_yaw = euler321(2);
const float euler_yaw = getEuler321Yaw(_state.quat_nominal);
if (_tas_data_ready && (_imu_sample_delayed.time_us - _airspeed_sample_delayed.time_us < (uint64_t)5e5)) {
// estimate wind using zero sideslip assumption and airspeed measurement if airspeed available