Easy Training
/
Quaternionen_to_euler
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: mbed
Diff: QtoEuler.cpp
- Revision:
- 0:4824ed76a312
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/QtoEuler.cpp Wed Mar 04 17:49:57 2020 +0000
@@ -0,0 +1,19 @@
+
+#include "MadgwickAHRS.h"
+#include "QtoEuler.h"
+#include <math.h>
+
+// Programm zum umrecnen der Quatrionen in die 3 Eulerwinkel
+// Pitch roll und jaw
+
+// Benötigt zum funktionieren den Madgwick Algorythmuss
+
+volatile float pitch = 0.0f, rol = 0.0f, jaw = 0.0f;
+
+void QtoEuler(void){
+ jaw = atan2(2*q1*q2 - 2*q0*q3, 2*pow(q0,2)+2*pow(q1,2) - 1);
+ pitch = -asin(2*q1*q3+2*q0*q2);
+ rol = atan2(2*q2*q3-2*q0*q1,2*pow(q0,2)+2*pow(q3,2) - 1);
+
+
+ }
\ No newline at end of file