mjb/altos/src/core/ao_quaternion.h, branch droid-prefsAltOS - the operating system for Altus Metrum products
https://git.ethernal.org/mjb/altos/atom?h=droid-prefs2013-11-12T05:01:55+00:00altos: Add orientation tracking to ao_flight_test2013-11-12T05:01:55+00:00Keith Packardkeithp@keithp.com2013-11-12T05:01:55+00:00urn:sha1:bdd6244d8b4a55c9aa4fb79b0cb1a0727afbc2ac
Shows calculated offset from vertical in ao_flight_test output
Signed-off-by: Keith Packard <keithp@keithp.com>
altos: Add functions to init quaternions from vector pairs and euler angles2013-10-28T06:11:37+00:00Keith Packardkeithp@keithp.com2013-10-28T06:11:37+00:00urn:sha1:c10cb9d31765e6ef0ba737bc484c5aed22a332f9
Our low sampling rate means that the "cheap" hack for
integrating quaternion rotations by using sin(x) ≃ x doesn't work, so
instead we have to compute the partial rotation the hard way.
Signed-off-by: Keith Packard <keithp@keithp.com>
altos: Add some comments describing quaternion multiplication2013-10-28T06:11:09+00:00Keith Packardkeithp@keithp.com2013-10-28T06:11:09+00:00urn:sha1:3b25860b5b3b69642928dd9c30dec4b4b937a88c
Signed-off-by: Keith Packard <keithp@keithp.com>
altos: Mark arguments to quaternion functions as const2013-10-28T06:10:13+00:00Keith Packardkeithp@keithp.com2013-10-28T06:10:13+00:00urn:sha1:616977d2955da13383a1869b9ccdb07338172109
Lets us pass constants without the compile whinging
Signed-off-by: Keith Packard <keithp@keithp.com>
altos: Add gyro-based orientation tracking2013-10-25T11:05:09+00:00Keith Packardkeithp@keithp.com2013-10-25T11:05:09+00:00urn:sha1:08143a922fe27bc50a19924f46538f9476ab5fd1
This tracks the angle-from-vertical as an additional input to the pyro
channels.
Signed-off-by: Keith Packard <keithp@keithp.com>