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afry-south / dragonfly-fcb

ÅF Dragonfly Quadrotor UAV Project
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Rotation matrix representation #106

Closed stenbergd closed 8 years ago

stenbergd commented 8 years ago

Create a rotation matrix and functionality to update it with new attitude estimations

stenbergd commented 8 years ago

Use the DSP library sin/cos math functions

stenbergd commented 8 years ago

Some stuff done for rotation matrix.

The DCM should be orthonormal. Perhaps some normalization is needed to achieve this?

stenbergd commented 8 years ago

Not sure if this is needed right now. Will be very useful when we start position control though so we can transform positions, velocity vectors etc from earth to body frames.

stenbergd commented 8 years ago

Closing this issue. Some functions have been implemented for this, but are not needed at this time. May be useful further on.