C++ (Cpp) pprz_msg_send_AHRS_EULER_INT 예제들

예제 #1

파일: ahrs_float_invariant_wrapper.c 프로젝트: AFVlab/DroneCompetition

static void send_att(struct transport_tx *trans, struct link_device *dev)
{
  /* compute eulers in int (IMU frame) */
  struct FloatEulers ltp_to_imu_euler;
  float_eulers_of_quat(&ltp_to_imu_euler, &ahrs_float_inv.state.quat);
  struct Int32Eulers eulers_imu;
  EULERS_BFP_OF_REAL(eulers_imu, ltp_to_imu_euler);

  /* compute Eulers in int (body frame) */
  struct FloatQuat ltp_to_body_quat;
  struct FloatQuat *body_to_imu_quat = orientationGetQuat_f(&ahrs_float_inv.body_to_imu);
  float_quat_comp_inv(&ltp_to_body_quat, &ahrs_float_inv.state.quat, body_to_imu_quat);
  struct FloatEulers ltp_to_body_euler;
  float_eulers_of_quat(&ltp_to_body_euler, &ltp_to_body_quat);
  struct Int32Eulers eulers_body;
  EULERS_BFP_OF_REAL(eulers_body, ltp_to_body_euler);

  pprz_msg_send_AHRS_EULER_INT(trans, dev, AC_ID,
                               &eulers_imu.phi,
                               &eulers_imu.theta,
                               &eulers_imu.psi,
                               &eulers_body.phi,
                               &eulers_body.theta,
                               &eulers_body.psi,
                               &ahrs_finv_id);
}

예제 #2

파일: ahrs_int_cmpl_euler_wrapper.c 프로젝트: MosesWangHao/paparazzi

static void send_euler(struct transport_tx *trans, struct link_device *dev)
{
  struct Int32Eulers *eulers = stateGetNedToBodyEulers_i();
  pprz_msg_send_AHRS_EULER_INT(trans, dev, AC_ID,
                               &ahrs_ice.ltp_to_imu_euler.phi,
                               &ahrs_ice.ltp_to_imu_euler.theta,
                               &ahrs_ice.ltp_to_imu_euler.psi,
                               &(eulers->phi),
                               &(eulers->theta),
                               &(eulers->psi));
}

예제 #3

파일: ahrs_float_cmpl.c 프로젝트: AULA-PPZ/paparazzi

static void send_att(struct transport_tx *trans, struct link_device *dev) {
  struct FloatEulers ltp_to_imu_euler;
  float_eulers_of_quat(&ltp_to_imu_euler, &ahrs_impl.ltp_to_imu_quat);
  struct Int32Eulers euler_i;
  EULERS_BFP_OF_REAL(euler_i, ltp_to_imu_euler);
  struct Int32Eulers* eulers_body = stateGetNedToBodyEulers_i();
  pprz_msg_send_AHRS_EULER_INT(trans, dev, AC_ID,
      &euler_i.phi,
      &euler_i.theta,
      &euler_i.psi,
      &(eulers_body->phi),
      &(eulers_body->theta),
      &(eulers_body->psi));
}