derotation_matrix_t Struct Reference

Link between gyro rates and rotational optic flow. More...

#include <optic_flow.h>

List of all members.

Public Attributes
float	Arx
	Links roll rate with horizontal OF (see formula above)
float	Apx
	Links pitch rate with horizontal OF (see formula above)
float	Ayx
	Links yaw rate with horizontal OF (see formula above)
float	Ary
	Links roll rate with vertical OF (see formula above)
float	Apy
	Links pitch rate with vertical OF (see formula above)
float	Ayy
	Links yaw rate with vertical OF (see formula above)

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Detailed Description

Link between gyro rates and rotational optic flow.

OF_rotation = A * gyro

[ OF_x ] = [Arx Apx Ayx] * [ roll_rate ] [ OF_y ] [Ary Apy Ayy] [ pitch_rate] [ yaw_rate ]

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

• /home/travis/build/lis-epfl/MAVRIC_Library/drivers/optic_flow.h