`#include <math.h>`
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## Macros

#define M_PI_2   ((float)asin(1))

## Functions

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)

## 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.

## Macro Definition Documentation

 #define M_PI_2   ((float)asin(1))

Definition at line 13 of file mavlink_conversions.h.

## 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

Definition at line 68 of file mavlink_conversions.h.

Converts a rotation matrix to a quaternion Reference:

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

Definition at line 146 of file mavlink_conversions.h.

 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

Definition at line 189 of file mavlink_conversions.h.

 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)

Definition at line 118 of file mavlink_conversions.h.

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

Definition at line 38 of file mavlink_conversions.h.

 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

Definition at line 102 of file mavlink_conversions.h.

rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Sat May 9 2020 03:16:55