#include <math.h>

Include dependency graph for include_v1.0/mavlink_conversions.h:

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Functions
MAVLINK_HELPER void	mavlink_dcm_to_euler (const float dcm[3][3], float roll, float pitch, float *yaw)

MAVLINK_HELPER void	mavlink_dcm_to_quaternion (const float dcm[3][3], float quaternion[4])

MAVLINK_HELPER void	mavlink_euler_to_dcm (float roll, float pitch, float yaw, float dcm[3][3])

MAVLINK_HELPER void	mavlink_euler_to_quaternion (float roll, float pitch, float yaw, float quaternion[4])

MAVLINK_HELPER void	mavlink_quaternion_to_dcm (const float quaternion[4], float dcm[3][3])

MAVLINK_HELPER void	mavlink_quaternion_to_euler (const float quaternion[4], float roll, float pitch, float *yaw)

Macro Definition Documentation

#define M_PI_2 ((float)asin(1))

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

MAVLINK_HELPER void mavlink_dcm_to_quaternion	(	const float	dcm[3][3],
		float	quaternion[4]
	)

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)

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

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)

MAVLINK_HELPER void mavlink_quaternion_to_dcm	(	const float	quaternion[4],
		float	dcm[3][3]
	)

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

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