Prosper Van / DCM_AHRS_GY80

AHRS based on MatrixPilot DCM algorithm; ported from Pololu MinIMU-9 example code in turn based on ArduPilot 1.5 built for sensor gy_80

Dependents:   quadCommand2

Fork of DCM_AHRS by Michael Shimniok

Matrix.h@14:6cb3c2204b9b, 2013-10-16 (annotated)

Committer:
oprospero
Date:
Wed Oct 16 07:49:34 2013 +0000
Revision:
14:6cb3c2204b9b
Parent:
6:49cbf2acc4e6 
Fixed vector copy;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:62284d27d75e 1 #ifndef __MATRIX_H
shimniok 0:62284d27d75e 2 #define __MATRIX_H
shimniok 0:62284d27d75e 3
oprospero 6:49cbf2acc4e6 4 #include "math.h"
shimniok 0:62284d27d75e 5 /** Take cross product of two 3x1 vectors: v1 x v2 = vectorOut
shimniok 0:62284d27d75e 6 * @param v1 is the first vector
shimniok 0:62284d27d75e 7 * @param v2 is the second vector
shimniok 0:62284d27d75e 8 * @returns vectorOut = v1 x v2
shimniok 0:62284d27d75e 9 */
shimniok 0:62284d27d75e 10 void Vector_Cross_Product(float vectorOut[3], float v1[3], float v2[3]);
shimniok 0:62284d27d75e 11
shimniok 0:62284d27d75e 12 /** Multiple 3x1 vector by scalar: vectorOut = vectorIn times scale2
shimniok 0:62284d27d75e 13 * @param vectorIn the vector
shimniok 0:62284d27d75e 14 * @param scale2 is the scalar
shimniok 0:62284d27d75e 15 * @returns vectorOut the result
shimniok 0:62284d27d75e 16 */
shimniok 0:62284d27d75e 17 void Vector_Scale(float vectorOut[3], float vectorIn[3], float scale2);
shimniok 0:62284d27d75e 18
shimniok 0:62284d27d75e 19 /** TDot product of two 3x1 vectors vector1 . vector2
shimniok 0:62284d27d75e 20 * @param vector1 is the first vector
shimniok 0:62284d27d75e 21 * @param vector2 is the second vector
shimniok 0:62284d27d75e 22 * @returns float result of dot product
shimniok 0:62284d27d75e 23 */
shimniok 0:62284d27d75e 24 float Vector_Dot_Product(float vector1[3], float vector2[3]);
shimniok 0:62284d27d75e 25
shimniok 0:62284d27d75e 26 /** Adds two 3x1 vectors: vectorOut = vectorIn1 + vectorIn2
shimniok 0:62284d27d75e 27 * @param vectorIn1 is the first vector
shimniok 0:62284d27d75e 28 * @param vectorIn2 is the second vector
shimniok 0:62284d27d75e 29 * @returns vectorOut is the result of the addition
shimniok 0:62284d27d75e 30 */
shimniok 0:62284d27d75e 31 void Vector_Add(float vectorOut[3], float vectorIn1[3], float vectorIn2[3]);
shimniok 0:62284d27d75e 32
shimniok 0:62284d27d75e 33 /** Multiplies two 3x3 matrices to get a third 3x3 matrix: c = ab
shimniok 0:62284d27d75e 34 * @param a is the first vector
shimniok 0:62284d27d75e 35 * @param b is the second vector
shimniok 0:62284d27d75e 36 * @returns c as the result of the mutliplication
shimniok 0:62284d27d75e 37 */
shimniok 0:62284d27d75e 38 void Matrix_Multiply(float c[3][3], float a[3][3], float b[3][3]);
oprospero 6:49cbf2acc4e6 39 void init_rotation_matrix(float m[3][3], float yaw, float pitch, float roll);
shimniok 0:62284d27d75e 40 #endif