Represents the orientation of a rigid body with respect to the world frame in terms of roll, pitch and yaw (heading), expressed in degrees. More...

#include <ahrs.h>

Data Fields
union {
struct {
zsl_real_t roll
	Longitudinal axis in degrees. A positive rolling motion lifts the left wing and lowers the right wing of an airplane. More...

zsl_real_t pitch
	Transverse axis in degrees. A positive pitching motion raises the nose of the aircraft and lowers the tail. More...

zsl_real_t yaw
	Vertical axis in degrees. A positive yawing motion moves the nose of the aircraft to the right. AKA heading. More...

}

zsl_real_t idx [3]
	Array-based access. More...

};

union {
struct {
uint8_t roll_invalid: 1
	If non-zero, indicates that roll is invalid. More...

uint8_t pitch_invalid: 1
	If non-zero, indicates that pitch is invalid. More...

uint8_t yaw_invalid: 1
	If non-zero, indicates that yaw is invalid. More...

} status

uint8_t status_bits
	Invalid field indicators. More...

};

Detailed Description

Represents the orientation of a rigid body with respect to the world frame in terms of roll, pitch and yaw (heading), expressed in degrees.

Note: This is functionally identical to zsl_euler, but attitude is usually repesented in degrees, not radians. This struct has been defined to differentiate between the two representations.

Definition at line 48 of file ahrs.h.

Field Documentation

◆ @18

union { ... }

◆ @20

union { ... }

◆ idx

zsl_real_t zsl_attitude::idx[3]

Array-based access.

Definition at line 63 of file ahrs.h.

◆ pitch

zsl_real_t zsl_attitude::pitch

Transverse axis in degrees. A positive pitching motion raises the nose of the aircraft and lowers the tail.

Definition at line 57 of file ahrs.h.

◆ pitch_invalid

uint8_t zsl_attitude::pitch_invalid

If non-zero, indicates that pitch is invalid.

Definition at line 70 of file ahrs.h.

◆ roll

zsl_real_t zsl_attitude::roll

Longitudinal axis in degrees. A positive rolling motion lifts the left wing and lowers the right wing of an airplane.

Definition at line 54 of file ahrs.h.

◆ roll_invalid

uint8_t zsl_attitude::roll_invalid

If non-zero, indicates that roll is invalid.

Definition at line 68 of file ahrs.h.

◆ status

struct { ... } zsl_attitude::status

◆ status_bits

uint8_t zsl_attitude::status_bits

Invalid field indicators.

Definition at line 75 of file ahrs.h.

◆ yaw

zsl_real_t zsl_attitude::yaw

Vertical axis in degrees. A positive yawing motion moves the nose of the aircraft to the right. AKA heading.

Definition at line 60 of file ahrs.h.

◆ yaw_invalid

uint8_t zsl_attitude::yaw_invalid

If non-zero, indicates that yaw is invalid.

Definition at line 72 of file ahrs.h.

The documentation for this struct was generated from the following file:

include/zsl/orientation/ahrs.h

Data Fields