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Calculation of Pitch and Roll #4

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Calculation of Pitch and Roll #4

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1a2b915
Added the methods for the calculation of pitch and roll.
Jun 18, 2013
de7fa51
Used a different aeronautical convention for pitch and roll.
Jul 25, 2013
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25 changes: 25 additions & 0 deletions LSM303/LSM303.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -260,6 +260,31 @@ void LSM303::read(void)
readMag();
}

int LSM303::pitch(void)
{
vector temp_a = a;
// normalize
vector_normalize(&temp_a);
//vector_normalize(&m);
int pitch = round(atan2(temp_a.y,((temp_a.z > 0) - (temp_a.z < 0))*sqrt(pow(temp_a.x,2.0)+pow(temp_a.z,2.0)))* 180 / M_PI);
if (pitch < 0) pitch += 360;
pitch = 360 - pitch;
return pitch;
}

int LSM303::roll(void)
{
vector temp_a = a;
// normalize
vector_normalize(&temp_a);
//vector_normalize(&m);
int roll = round(atan2(-1*temp_a.x,temp_a.z)* 180 / M_PI);
if (roll < 0) roll += 360;
roll = 360 - roll;
return roll;

}

// Returns the number of degrees from the -Y axis that it
// is pointing.
int LSM303::heading(void)
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5 changes: 2 additions & 3 deletions LSM303/LSM303.h
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,8 @@ class LSM303
bool timeoutOccurred(void);

int heading(void);
int pitch(void);
int roll(void);
int heading(vector from);

// vector functions
Expand All @@ -157,6 +159,3 @@ class LSM303
};

#endif