Functions
void	angle2quaternion (const double &roll, const double &pitch, const double &yaw, double w, double x, double y, double z)
	converts AscTec's attitude angles to a quaternion
template<typename T >
double	asctecAccToSI (const T &val)
	converts AscTec acceleration values to m/s^2
template<typename T >
double	asctecAttitudeToSI (const T &val)
	converts AscTec acceleration values to rad
template<typename T >
double	asctecOmegaToSI (const T &val)
	converts AscTec turn rates to rad/s
template<typename T >
T	clamp (const T &min, const T &max, const T &val)
	checks if val exceeds [min ... max] and returns a clamped value if necessary
template<typename T >
T	clamp (const T &min, const T &max, const T &val, bool *clamped)
	checks if val exceeds [min ... max] and returns a clamped value if necessary.
double	debug2Double (const int16_t &param)
	converts a debug value fixpoint (fp) representation needed by the SSDK running datafusion and position control to double (d)
double	param2Double (const uint32_t &param)
	converts a parameter from fixpoint (fp) representation needed by the SSDK running datafusion and position control to double (d)
uint32_t	param2Fixpoint (const double &param)
	converts a parameter from double (d) to fixpoint (fp) representation needed by the SSDK running datafusion and position control
uint16_t	rateToPeriod (const double &rate)
	converts a rate in Hz to an integer period in ms.
template<typename T >
void	setDiagonalCovariance (T &covariance_matrix, const double &covariance)
int	yaw2asctec (const double &yaw)
	converts the yaw angle and range. AscTec uses 0...360° * 1000, we -pi...+pi
Variables
const double	ASCTEC_ACC_TO_SI = 9.81e-3
	conversion from AscTec acceleration values to m/s^2
const double	ASCTEC_ATTITUDE_TO_SI = 0.01 * M_PI / 180.0
	conversion from AscTec attitude angles to rad
const double	ASCTEC_OMEGA_TO_SI = 0.015 * M_PI / 180.0
	conversion from AscTec turn rates to rad/s

Function Documentation

void helper::angle2quaternion	(	const double &	roll,
		const double &	pitch,
		const double &	yaw,
		double *	w,
		double *	x,
		double *	y,
		double *	z
	)		`[inline]`

converts AscTec's attitude angles to a quaternion

Definition at line 174 of file helper.h.

template<typename T >

double helper::asctecAccToSI ( const T & val ) [inline]

converts AscTec acceleration values to m/s^2

Definition at line 52 of file helper.h.

template<typename T >

double helper::asctecAttitudeToSI ( const T & val ) [inline]

converts AscTec acceleration values to rad

Definition at line 66 of file helper.h.

template<typename T >

double helper::asctecOmegaToSI ( const T & val ) [inline]

converts AscTec turn rates to rad/s

Definition at line 59 of file helper.h.

template<typename T >

T helper::clamp	(	const T &	min,
		const T &	max,
		const T &	val
	)		`[inline]`

checks if val exceeds [min ... max] and returns a clamped value if necessary

Definition at line 82 of file helper.h.

template<typename T >

T helper::clamp	(	const T &	min,
		const T &	max,
		const T &	val,
		bool *	clamped
	)		`[inline]`

checks if val exceeds [min ... max] and returns a clamped value if necessary.

Definition at line 94 of file helper.h.

double helper::debug2Double ( const int16_t & param ) [inline]

converts a debug value fixpoint (fp) representation needed by the SSDK running datafusion and position control to double (d)

$d = p/2^{15}$

Definition at line 136 of file helper.h.

double helper::param2Double ( const uint32_t & param ) [inline]

converts a parameter from fixpoint (fp) representation needed by the SSDK running datafusion and position control to double (d)

$d = (p - 2^{31})/2^{15}$

Definition at line 127 of file helper.h.

uint32_t helper::param2Fixpoint ( const double & param ) [inline]

converts a parameter from double (d) to fixpoint (fp) representation needed by the SSDK running datafusion and position control

$fp = d* 2^{15} + 2^{31}$ ; min 0, max $2^{32}$

Definition at line 117 of file helper.h.

uint16_t helper::rateToPeriod ( const double & rate ) [inline]

converts a rate in Hz to an integer period in ms.

Definition at line 72 of file helper.h.

template<typename T >

void helper::setDiagonalCovariance	(	T &	covariance_matrix,
		const double &	covariance
	)		`[inline]`

Definition at line 197 of file helper.h.

int helper::yaw2asctec ( const double & yaw ) [inline]

converts the yaw angle and range. AscTec uses 0...360° * 1000, we -pi...+pi

Definition at line 143 of file helper.h.

Variable Documentation

const double helper::ASCTEC_ACC_TO_SI = 9.81e-3

conversion from AscTec acceleration values to m/s^2

Definition at line 42 of file helper.h.

const double helper::ASCTEC_ATTITUDE_TO_SI = 0.01 * M_PI / 180.0

conversion from AscTec attitude angles to rad

Definition at line 48 of file helper.h.

const double helper::ASCTEC_OMEGA_TO_SI = 0.015 * M_PI / 180.0

conversion from AscTec turn rates to rad/s

Definition at line 45 of file helper.h.

Functions

Variables

Function Documentation

Variable Documentation