C++ (Cpp) DOUBLE_RMAT_OF_EULERS Examples

Example #1

File: nps_sensors.c Project: OpenUAS/wasp

void nps_sensors_init(double time) {

  struct DoubleEulers body_to_imu_eulers = 
    { NPS_BODY_TO_IMU_PHI, NPS_BODY_TO_IMU_THETA, NPS_BODY_TO_IMU_PSI };
  DOUBLE_RMAT_OF_EULERS(sensors.body_to_imu_rmat, body_to_imu_eulers);

  nps_sensor_gyro_init(&sensors.gyro, time);
  nps_sensor_accel_init(&sensors.accel, time);
  nps_sensor_mag_init(&sensors.mag, time);
  nps_sensor_baro_init(&sensors.baro, time);
  nps_sensor_gps_init(&sensors.gps, time);

}

Example #2

File: nps_sensor_mag.c Project: AntoineBlais/paparazzi

void nps_sensor_mag_init(struct NpsSensorMag* mag, double time) {
  VECT3_ASSIGN(mag->value, 0., 0., 0.);
  //  mag->resolution = NPS_MAG_RESOLUTION;
  FLOAT_MAT33_DIAG(mag->sensitivity, 
		   NPS_MAG_SENSITIVITY_XX, NPS_MAG_SENSITIVITY_YY, NPS_MAG_SENSITIVITY_ZZ);
  VECT3_ASSIGN(mag->neutral, 
	       NPS_MAG_NEUTRAL_X, NPS_MAG_NEUTRAL_Y, NPS_MAG_NEUTRAL_Z);
  VECT3_ASSIGN(mag->noise_std_dev, 
	       NPS_MAG_NOISE_STD_DEV_X, NPS_MAG_NOISE_STD_DEV_Y, NPS_MAG_NOISE_STD_DEV_Z);
  struct DoubleEulers imu_to_sensor_eulers = 
    { NPS_MAG_IMU_TO_SENSOR_PHI, NPS_MAG_IMU_TO_SENSOR_THETA, NPS_MAG_IMU_TO_SENSOR_PSI };
  DOUBLE_RMAT_OF_EULERS(mag->imu_to_sensor_rmat, imu_to_sensor_eulers);
  mag->next_update = time;
  mag->data_available = FALSE;
}