mavlink_conversions.h File Reference

#include <math.h>

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Macros
#define	M_PI_2   ((float)asin(1))

Functions
MAVLINK_HELPER void	mavlink_quaternion_to_dcm (const float quaternion[4], float dcm[3][3])
MAVLINK_HELPER void	mavlink_dcm_to_euler (const float dcm[3][3], float *roll, float *pitch, float *yaw)
MAVLINK_HELPER void	mavlink_quaternion_to_euler (const float quaternion[4], float *roll, float *pitch, float *yaw)
MAVLINK_HELPER void	mavlink_euler_to_quaternion (float roll, float pitch, float yaw, float quaternion[4])
MAVLINK_HELPER void	mavlink_dcm_to_quaternion (const float dcm[3][3], float quaternion[4])
MAVLINK_HELPER void	mavlink_euler_to_dcm (float roll, float pitch, float yaw, float dcm[3][3])

Detailed Description

These conversion functions follow the NASA rotation standards definition file available online.

Their intent is to lower the barrier for MAVLink adopters to use gimbal-lock free (both rotation matrices, sometimes called DCM, and quaternions are gimbal-lock free) rotation representations. Euler angles (roll, pitch, yaw) will be phased out of the protocol as widely as possible.

Author

James Goppert

Thomas Gubler thoma.nosp@m.sgub.nosp@m.ler@g.nosp@m.mail.nosp@m..com

Macro Definition Documentation

#define M_PI_2   ((float)asin(1))

Function Documentation

MAVLINK_HELPER void mavlink_dcm_to_euler	(	const float	dcm[3][3],
		float *	roll,
		float *	pitch,
		float *	yaw
	)

Converts a rotation matrix to euler angles

Parameters

dcm	a 3x3 rotation matrix
roll	the roll angle in radians
pitch	the pitch angle in radians
yaw	the yaw angle in radians

MAVLINK_HELPER void mavlink_dcm_to_quaternion	(	const float	dcm[3][3],
		float	quaternion[4]
	)

Converts a rotation matrix to a quaternion Reference:

• Shoemake, Quaternions, http://www.cs.ucr.edu/~vbz/resources/quatut.pdf

Parameters

dcm	a 3x3 rotation matrix
quaternion	a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0)

MAVLINK_HELPER void mavlink_euler_to_dcm	(	float	roll,
		float	pitch,
		float	yaw,
		float	dcm[3][3]
	)

Converts euler angles to a rotation matrix

Parameters

roll	the roll angle in radians
pitch	the pitch angle in radians
yaw	the yaw angle in radians
dcm	a 3x3 rotation matrix

MAVLINK_HELPER void mavlink_euler_to_quaternion	(	float	roll,
		float	pitch,
		float	yaw,
		float	quaternion[4]
	)

Converts euler angles to a quaternion

Parameters

roll	the roll angle in radians
pitch	the pitch angle in radians
yaw	the yaw angle in radians
quaternion	a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0)

MAVLINK_HELPER void mavlink_quaternion_to_dcm	(	const float	quaternion[4],
		float	dcm[3][3]
	)

Converts a quaternion to a rotation matrix

Parameters

quaternion	a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0)
dcm	a 3x3 rotation matrix

MAVLINK_HELPER void mavlink_quaternion_to_euler	(	const float	quaternion[4],
		float *	roll,
		float *	pitch,
		float *	yaw
	)

Converts a quaternion to euler angles

Parameters

quaternion	a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0)
roll	the roll angle in radians
pitch	the pitch angle in radians
yaw	the yaw angle in radians

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