From 6dbb362b2d1df4d8c2d301e90624aceef8051ef5 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 22 Jun 2017 10:10:06 -0700 Subject: altoslib: Clean up quaternion and rotation interfaces Export euler to quaternion (instead of half_euler). Provide angles to rotate rather than rates and time. Add comments to quaternion and rotation code. Signed-off-by: Keith Packard --- altoslib/AltosFlightSeries.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'altoslib/AltosFlightSeries.java') diff --git a/altoslib/AltosFlightSeries.java b/altoslib/AltosFlightSeries.java index 45d3b456..57f1a491 100644 --- a/altoslib/AltosFlightSeries.java +++ b/altoslib/AltosFlightSeries.java @@ -363,11 +363,11 @@ public class AltosFlightSeries extends AltosDataListener { double dt = time - prev_time; if (dt > 0) { - double roll = AltosConvert.degrees_to_radians(roll_v.value); - double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)); - double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)); + double roll = AltosConvert.degrees_to_radians(roll_v.value) * dt; + double pitch = AltosConvert.degrees_to_radians(gyro_pitch.value(time)) * dt; + double yaw = AltosConvert.degrees_to_radians(gyro_yaw.value(time)) * dt; - rotation.rotate(dt, pitch, yaw, roll); + rotation.rotate(pitch, yaw, roll); orient_series.add(time, rotation.tilt()); } prev_time = time; -- cgit v1.2.3