Closed GuillaumeLaine closed 5 months ago
wrapAngleToPlusMinusPi
wrapPi
ned
frd
utils.cpp
{geometry.cpp, frame_conversion.cpp}
quaternionToPitch
...Roll
...Yaw
quaternionToEuler
Moves utils from auterion_sdk
Changes
wrapAngleToPlusMinusPireturns in [-pi, pi) instead of [-pi, pi] up to floating point precisionwrapAngleToPlusMinusPi->wrapPinedtofrdfor thrust of attitude and rate setpointsutils.cpp->{geometry.cpp, frame_conversion.cpp}Adds
quaternionToPitch(and...Roll,...Yaw) functions. Rationale: existingquaternionToEulermaps pitch to [-pi/2, pi/2] by convention but there are use cases for a pitch in [-pi, pi] i.e. accumulating delta angles to detect a flip.