helper.h File Reference

#include <asctec_hl_comm/mav_ctrl.h>
#include <tf/transform_datatypes.h>

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Namespaces
namespace	helper
Functions
void	helper::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	helper::asctecAccToSI (const T &val)
	converts AscTec acceleration values to m/s^2
template<typename T >
double	helper::asctecAttitudeToSI (const T &val)
	converts AscTec acceleration values to rad
template<typename T >
double	helper::asctecOmegaToSI (const T &val)
	converts AscTec turn rates to rad/s
template<typename T >
T	helper::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	helper::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	helper::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	helper::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	helper::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	helper::rateToPeriod (const double &rate)
	converts a rate in Hz to an integer period in ms.
template<typename T >
void	helper::setDiagonalCovariance (T &covariance_matrix, const double &covariance)
int	helper::yaw2asctec (const double &yaw)
	converts the yaw angle and range. AscTec uses 0...360° * 1000, we -pi...+pi
Variables
const double	helper::ASCTEC_ACC_TO_SI = 9.81e-3
	conversion from AscTec acceleration values to m/s^2
const double	helper::ASCTEC_ATTITUDE_TO_SI = 0.01 * M_PI / 180.0
	conversion from AscTec attitude angles to rad
const double	helper::ASCTEC_OMEGA_TO_SI = 0.015 * M_PI / 180.0
	conversion from AscTec turn rates to rad/s