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HEADFREE true 3D (second edition)...

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reduced memory footprint ...
	rebased squashed cleanup
This commit is contained in:
Adrian Miriuta 2017-09-22 18:56:45 +02:00
parent 36a6cfc2b1
commit 7146c40ca8
11 changed files with 181 additions and 92 deletions
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24
lib/main/MAVLink/mavlink_conversions.h
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@ -117,12 +117,12 @@ MAVLINK_HELPER void mavlink_quaternion_to_euler(const float quaternion[4], float
*/
MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float yaw, float quaternion[4])
{
float cosPhi_2 = cosf(roll / 2);
float sinPhi_2 = sinf(roll / 2);
float cosTheta_2 = cosf(pitch / 2);
float sinTheta_2 = sinf(pitch / 2);
float cosPsi_2 = cosf(yaw / 2);
float sinPsi_2 = sinf(yaw / 2);
float cosPhi_2 = cos_approx(roll / 2);
float sinPhi_2 = sin_approx(roll / 2);
float cosTheta_2 = cos_approx(pitch / 2);
float sinTheta_2 = sin_approx(pitch / 2);
float cosPsi_2 = cos_approx(yaw / 2);
float sinPsi_2 = sin_approx(yaw / 2);
quaternion[0] = (cosPhi_2 * cosTheta_2 * cosPsi_2 +
sinPhi_2 * sinTheta_2 * sinPsi_2);
quaternion[1] = (sinPhi_2 * cosTheta_2 * cosPsi_2 -
@ -188,12 +188,12 @@ MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quate
*/
MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, float dcm[3][3])
{
float cosPhi = cosf(roll);
float sinPhi = sinf(roll);
float cosThe = cosf(pitch);
float sinThe = sinf(pitch);
float cosPsi = cosf(yaw);
float sinPsi = sinf(yaw);
float cosPhi = cos_approx(roll);
float sinPhi = sin_approx(roll);
float cosThe = cos_approx(pitch);
float sinThe = sin_approx(pitch);
float cosPsi = cos_approx(yaw);
float sinPsi = sin_approx(yaw);
dcm[0][0] = cosThe * cosPsi;
dcm[0][1] = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;