mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 07:53:43 +08:00
Antoine Drouin
110 lines
1.9 KiB
C
110 lines
1.9 KiB
C
#include <math.h>
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#include "ahrs_utils.h"
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float C[4];
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float dcm00;
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float dcm01;
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float dcm02;
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float dcm12;
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float dcm22;
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float phi;
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float theta;
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float psi;
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float q0;
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float q1;
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float q2;
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float q3;
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/* d_euler / dq */
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/*
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phi = atan ( 2(q2q3 + q0q1) / (q0^2 - q1^2 - q2^2 + q3^2))
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*/
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void test_dphi_dq ( void ) {
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float my_dcm22 = q0*q0 - q1*q1 - q2*q2 + q3*q3;
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float dcm22_sq = my_dcm22 * my_dcm22;
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float my_dcm12 = 2*(q2*q3 + q0*q1);
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float dcm12_sq = my_dcm12 * my_dcm12;
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C[0] = 2 * q1 * my_dcm22 / (dcm22_sq + dcm12_sq);
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C[1] = 2 * q0 * my_dcm22 / (dcm22_sq + dcm12_sq);
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C[2] = 2 * q3 * my_dcm22 / (dcm22_sq + dcm12_sq);
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C[3] = 2 * q2 * my_dcm22 / (dcm22_sq + dcm12_sq);
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}
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/*
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theta = asin(-2(q1q3 - q0q2))
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dasin = 1/sqrt(1-x^2)
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*/
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void test_dtheta_dq ( void ) {
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float my_dcm02 = 2 * (q1*q3 - q0*q2);
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float dcm02_sq = my_dcm02 * my_dcm02;
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C[0] = 2 * q2 / (sqrt(1 - dcm02_sq));
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C[1] = -2 * q3 / (sqrt(1 - dcm02_sq));
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C[2] = 2 * q0 / (sqrt(1 - dcm02_sq));
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C[3] = -2 * q1 / (sqrt(1 - dcm02_sq));
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}
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/*
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psi = atan ( 2(q1q2 + q0q3) / (q0^2 + q1^2 - q2^2 - q3^2))
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datan = 1/(1+x^2)
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*/
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void test_dpsi_dq ( void ) {
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float my_dcm00 = 1 - 2. * q2 * q2 - 2. * q3 * q3;
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float my_dcm01 = 2*(q1*q2 +q0*q3);
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float dcm00_sq = my_dcm00 * my_dcm00;
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float dcm01_sq = my_dcm01 * my_dcm01;
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C[0] = 2. * q3 * my_dcm00 / (dcm00_sq + dcm01_sq);
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C[1] = 2. * q2 * my_dcm00 / (dcm00_sq + dcm01_sq);
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C[2] = 2. * q1 * my_dcm00 / (dcm00_sq + dcm01_sq);
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C[3] = 2. * q0 * my_dcm00 / (dcm00_sq + dcm01_sq);
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}
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int main (int argc, char** argv) {
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phi = 0.3;
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theta = 0.1;
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psi = 0.2;
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PrintEuler()
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quat_of_eulers();
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PrintQuat();
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DCM_of_quat();
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PrintDCM();
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#if 1
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printf("phi\n");
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compute_dphi_dq();
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PrintC();
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test_dphi_dq();
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PrintC();
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#endif
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#if 1
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printf("theta\n");
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compute_dtheta_dq();
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PrintC();
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test_dtheta_dq();
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PrintC();
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#endif
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#if 1
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printf("psi\n");
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compute_dpsi_dq();
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PrintC();
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test_dpsi_dq();
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PrintC();
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#endif
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return 0;
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}
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