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
DCM/HelperMath.h@1:e08a4f517989, 2013-08-27 (annotated)
- Committer:
- KarimAzzouz
- Date:
- Tue Aug 27 09:38:49 2013 +0000
- Revision:
- 1:e08a4f517989
initial commit, achieved single axis stability
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
KarimAzzouz | 1:e08a4f517989 | 1 | #ifndef HELPERMATH_H |
KarimAzzouz | 1:e08a4f517989 | 2 | #define HELPERMATH_H |
KarimAzzouz | 1:e08a4f517989 | 3 | /**************************************************/ |
KarimAzzouz | 1:e08a4f517989 | 4 | //Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!). |
KarimAzzouz | 1:e08a4f517989 | 5 | void Matrix_Multiply(float a[3][3], float b[3][3],float mat[3][3]); |
KarimAzzouz | 1:e08a4f517989 | 6 | |
KarimAzzouz | 1:e08a4f517989 | 7 | //Computes the dot product of two vectors |
KarimAzzouz | 1:e08a4f517989 | 8 | float Vector_Dot_Product(float vector1[3],float vector2[3]); |
KarimAzzouz | 1:e08a4f517989 | 9 | |
KarimAzzouz | 1:e08a4f517989 | 10 | //Computes the cross product of two vectors |
KarimAzzouz | 1:e08a4f517989 | 11 | void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3]); |
KarimAzzouz | 1:e08a4f517989 | 12 | |
KarimAzzouz | 1:e08a4f517989 | 13 | //Multiply the vector by a scalar. |
KarimAzzouz | 1:e08a4f517989 | 14 | void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2); |
KarimAzzouz | 1:e08a4f517989 | 15 | |
KarimAzzouz | 1:e08a4f517989 | 16 | void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3]); |
KarimAzzouz | 1:e08a4f517989 | 17 | |
KarimAzzouz | 1:e08a4f517989 | 18 | |
KarimAzzouz | 1:e08a4f517989 | 19 | #endif |