You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
91 lines
3.2 KiB
91 lines
3.2 KiB
/**************************************************************************** |
|
* |
|
* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
|
* Author: Lorenz Meier <lm@inf.ethz.ch> |
|
* |
|
* Redistribution and use in source and binary forms, with or without |
|
* modification, are permitted provided that the following conditions |
|
* are met: |
|
* |
|
* 1. Redistributions of source code must retain the above copyright |
|
* notice, this list of conditions and the following disclaimer. |
|
* 2. Redistributions in binary form must reproduce the above copyright |
|
* notice, this list of conditions and the following disclaimer in |
|
* the documentation and/or other materials provided with the |
|
* distribution. |
|
* 3. Neither the name PX4 nor the names of its contributors may be |
|
* used to endorse or promote products derived from this software |
|
* without specific prior written permission. |
|
* |
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
* POSSIBILITY OF SUCH DAMAGE. |
|
* |
|
****************************************************************************/ |
|
|
|
/** |
|
* @file conversions.h |
|
* Definition of commonly used conversions. |
|
* |
|
* Includes bit / byte / geo representation and unit conversions. |
|
*/ |
|
|
|
#ifndef CONVERSIONS_H_ |
|
#define CONVERSIONS_H_ |
|
#include <float.h> |
|
#include <stdint.h> |
|
|
|
#define CONSTANTS_ONE_G 9.80665f |
|
|
|
__BEGIN_DECLS |
|
|
|
/** |
|
* Converts a signed 16 bit integer from big endian to little endian. |
|
* |
|
* This function is for commonly used 16 bit big endian sensor data, |
|
* delivered by driver routines as two 8 bit numbers in big endian order. |
|
* Common vendors with big endian representation are Invense, Bosch and |
|
* Honeywell. ST micro devices tend to use a little endian representation. |
|
*/ |
|
__EXPORT int16_t int16_t_from_bytes(uint8_t bytes[]); |
|
|
|
/** |
|
* Converts a 3 x 3 rotation matrix to an unit quaternion. |
|
* |
|
* All orientations are expressed in NED frame. |
|
* |
|
* @param R rotation matrix to convert |
|
* @param Q quaternion to write back to |
|
*/ |
|
__EXPORT void rot2quat(const float R[9], float Q[4]); |
|
|
|
/** |
|
* Converts an unit quaternion to a 3 x 3 rotation matrix. |
|
* |
|
* All orientations are expressed in NED frame. |
|
* |
|
* @param Q quaternion to convert |
|
* @param R rotation matrix to write back to |
|
*/ |
|
__EXPORT void quat2rot(const float Q[4], float R[9]); |
|
|
|
/** |
|
* Calculates air density. |
|
* |
|
* @param static_pressure ambient pressure in millibar |
|
* @param temperature_celcius air / ambient temperature in celcius |
|
*/ |
|
__EXPORT float get_air_density(float static_pressure, float temperature_celsius); |
|
|
|
__END_DECLS |
|
|
|
#endif /* CONVERSIONS_H_ */
|
|
|