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AP_Math: add new rotation to example rotation sketch

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This commit is contained in:
Randy Mackay 2014-11-22 14:10:00 +09:00
parent 6b0e636abf
commit 4b5411e86a
1 changed files with 11 additions and 5 deletions
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14
libraries/AP_Math/examples/rotations/rotations.pde
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@ -37,11 +37,10 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
static void print_vector(Vector3f &v)
{
hal.console->printf("[%.2f %.2f %.2f]\n",
hal.console->printf("[%.4f %.4f %.4f]\n",
v.x, v.y, v.z);
}
// test rotation method accuracy
static void test_rotation_accuracy(void)
{
@ -94,10 +93,16 @@ static void test_euler(enum Rotation rotation, float roll, float pitch, float ya
diff = (v2 - v1);
if (diff.length() > accuracy) {
hal.console->printf("euler test %u incorrect\n", (unsigned)rotation);
print_vector(v);
hal.console->printf("euler test %u failed : yaw:%d roll:%d pitch:%d\n",
(unsigned)rotation,
(int)yaw,
(int)roll,
(int)pitch);
hal.console->printf("fast rotated: ");
print_vector(v1);
hal.console->printf("slow rotated: ");
print_vector(v2);
hal.console->printf("\n");
}
}
@ -142,6 +147,7 @@ static void test_eulers(void)
test_euler(ROTATION_ROLL_270_PITCH_270,270,270, 0);
test_euler(ROTATION_ROLL_90_PITCH_180_YAW_90, 90, 180, 90);
test_euler(ROTATION_ROLL_90_YAW_270, 90, 0, 270);
test_euler(ROTATION_YAW_293_PITCH_68_ROLL_180,180,68.8,293.3);
}
static bool have_rotation(const Matrix3f &m)