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.h
- Revision:
- 1:e08a4f517989
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/DCM/HelperMath.h Tue Aug 27 09:38:49 2013 +0000 @@ -0,0 +1,19 @@ +#ifndef HELPERMATH_H +#define 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]); + +//Computes the dot product of two vectors +float Vector_Dot_Product(float vector1[3],float vector2[3]); + +//Computes the cross product of two vectors +void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3]); + +//Multiply the vector by a scalar. +void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2); + +void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3]); + + +#endif \ No newline at end of file