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AP_AHRS: added body/earth frame ops for Lua

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This commit is contained in:
Andrew Tridgell 2020-05-08 07:23:48 +10:00
parent a56a7f7da4
commit 7d520c8307
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_AHRS/AP_AHRS.h
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@ -573,6 +573,16 @@ public:
return _rsem; return _rsem;
} }
// convert a vector from body to earth frame
Vector3f body_to_earth(const Vector3f &v) const {
return v * get_rotation_body_to_ned();
}
// convert a vector from earth to body frame
Vector3f earth_to_body(const Vector3f &v) const {
return get_rotation_body_to_ned().mul_transpose(v);
}
// for holding parameters // for holding parameters
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];