Karim Azzouz
A quadcopter control Software (Still in development). achieved single axis stability!!!!! released for others benefit. if you'd like to help co-develop this code, then please let me know
Dependencies: MovingAverageFilter MyI2C PID RC mbed-rtos mbed
Currently on hold, due to the fact that i don't own a RX/TX system
Diff: DCM/HelperMath.cpp
- Revision:
- 1:e08a4f517989
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DCM/HelperMath.cpp Tue Aug 27 09:38:49 2013 +0000
@@ -0,0 +1,59 @@
+#include "HelperMath.h"
+/**************************************************/
+//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!).
+void Matrix_Multiply(float a[3][3], float b[3][3],float mat[3][3])
+{
+ float op[3];
+ for(int x=0; x<3; x++)
+ {
+ for(int y=0; y<3; y++)
+ {
+ for(int w=0; w<3; w++)
+ {
+ op[w]=a[x][w]*b[w][y];
+ }
+ mat[x][y]=0;
+ mat[x][y]=op[0]+op[1]+op[2];
+
+ }
+ }
+}
+
+
+//Computes the dot product of two vectors
+float Vector_Dot_Product(float vector1[3],float vector2[3])
+{
+ float op=0;
+
+ for(int c=0; c<3; c++)
+ {
+ op+=vector1[c]*vector2[c];
+ }
+
+ return op;
+}
+
+//Computes the cross product of two vectors
+void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3])
+{
+ vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
+ vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
+ vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
+}
+
+//Multiply the vector by a scalar.
+void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2)
+{
+ for(int c=0; c<3; c++)
+ {
+ vectorOut[c]=vectorIn[c]*scale2;
+ }
+}
+
+void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3])
+{
+ for(int c=0; c<3; c++)
+ {
+ vectorOut[c]=vectorIn1[c]+vectorIn2[c];
+ }
+}