mirror of https://github.com/ArduPilot/ardupilot
14 lines
468 B
Mathematica
14 lines
468 B
Mathematica
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function Tbn = Quat2Tbn(quat)
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% Convert from quaternions defining the flight vehicles rotation to
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% the direction cosine matrix defining the rotation from body to navigation
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% coordinates
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q0 = quat(1);
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q1 = quat(2);
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q2 = quat(3);
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q3 = quat(4);
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Tbn = [q0^2 + q1^2 - q2^2 - q3^2, 2*(q1*q2 - q0*q3), 2*(q1*q3 + q0*q2); ...
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2*(q1*q2 + q0*q3), q0^2 - q1^2 + q2^2 - q3^2, 2*(q2*q3 - q0*q1); ...
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2*(q1*q3-q0*q2), 2*(q2*q3 + q0*q1), q0^2 - q1^2 - q2^2 + q3^2];
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