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b2a538375c
Changes in ahrs.c for new initialization and to fix issues with outdoor algorithm. The changes in ahrs.c are pretty messy, but committed mostly to get the code to Peabody for more extensive restructuring of ahrs.c. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2150 ebee16cc-31ac-478f-84a7-5cbb03baadba
74 lines
2.9 KiB
C
74 lines
2.9 KiB
C
/**
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******************************************************************************
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*
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* @file CoordinateConverions.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Header for Coordinate conversions library in CoordinateConversions.c
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* - all angles in deg
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* - distances in meters
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* - altitude above WGS-84 elipsoid
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef COORDINATECONVERSIONS_H_
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#define COORDINATECONVERSIONS_H_
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// ****** convert Lat,Lon,Alt to ECEF ************
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void LLA2ECEF(double LLA[3], double ECEF[3]);
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// ****** convert ECEF to Lat,Lon,Alt (ITERATIVE!) *********
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uint16_t ECEF2LLA(double ECEF[3], double LLA[3]);
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void RneFromLLA(double LLA[3], float Rne[3][3]);
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// ****** find roll, pitch, yaw from quaternion ********
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void Quaternion2RPY(float q[4], float rpy[3]);
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// ****** find quaternion from roll, pitch, yaw ********
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void RPY2Quaternion(float rpy[3], float q[4]);
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//** Find Rbe, that rotates a vector from earth fixed to body frame, from quaternion **
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void Quaternion2R(float q[4], float Rbe[3][3]);
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// ****** Express LLA in a local NED Base Frame ********
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void LLA2Base(double LLA[3], double BaseECEF[3], float Rne[3][3], float NED[3]);
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// ****** Express ECEF in a local NED Base Frame ********
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void ECEF2Base(double ECEF[3], double BaseECEF[3], float Rne[3][3], float NED[3]);
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// ****** convert Rotation Matrix to Quaternion ********
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// ****** if R converts from e to b, q is rotation from e to b ****
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void R2Quaternion(float R[3][3], float q[4]);
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// ****** Rotation Matrix from Two Vector Directions ********
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// ****** given two vector directions (v1 and v2) known in two frames (b and e) find Rbe ***
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// ****** solution is approximate if can't be exact ***
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uint8_t RotFrom2Vectors(const float v1b[3], const float v1e[3], const float v2b[3], const float v2e[3], float Rbe[3][3]);
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// ****** Vector Cross Product ********
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void CrossProduct(const float v1[3], const float v2[3], float result[3]);
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// ****** Vector Magnitude ********
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float VectorMagnitude(const float v[3]);
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#endif // COORDINATECONVERSIONS_H_
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