[paparazzi-commits] [paparazzi/paparazzi] ed9a15: Generic rotation matrix for mounted stereocamera (...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: ed9a15ca6f9cd51b54ddf1ba0c43e91c3c750b0e
      
https://github.com/paparazzi/paparazzi/commit/ed9a15ca6f9cd51b54ddf1ba0c43e91c3c750b0e
  Author: knmcguire <address@hidden>
  Date:   2017-02-13 (Mon, 13 Feb 2017)

  Changed paths:
    M conf/airframes/TUDELFT/tudelft_KM_conf.xml
    A conf/airframes/TUDELFT/tudelft_ladybird_lisamxs_wifi_indi_stereoboard.xml
    M conf/modules/stereocam.xml
    M conf/modules/stereocam_state2camera.xml
    M sw/airborne/modules/stereocam/state2camera/state2camera.c
    M sw/airborne/modules/stereocam/state2camera/state2camera.h
    M sw/airborne/modules/stereocam/stereocam.c
    M sw/airborne/modules/stereocam/stereocam.h
    M sw/airborne/modules/stereocam/stereocam2state/stereocam2state.c
    M sw/airborne/modules/stereocam/stereocam2state/stereocam2state.h

  Log Message:
  -----------
  Generic rotation matrix for mounted stereocamera (#1998)

This pull request adds a rotation matrix to the stereocam module group. The 
stereocam in combination with the lisa-s, the new lisa MXs, and the ardrone are 
usually mounted on there in different direction (facing backwards, forwards and 
downwards). Before, we had to constantly double check the direction of the 
velocities to transform that manually to body fixed coordinates, which was very 
prone to mistakes. Same goes with the derotation of optical flow on the 
stereocam.

This addition should make it easier and more generic for platforms with the 
mounted stereocamera.