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Roll Pitch Yaw Calculations #326

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Roll Pitch Yaw Calculations #326

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93ee0cd
Checkout math lib and add nmathutils
AarC10 Jun 28, 2025
954ab4f
Stub function
AarC10 Jun 28, 2025
4ec0073
Calculate roll pitch and yaw
AarC10 Jun 28, 2025
e92b047
Remove from sensor mod compile
AarC10 Jun 28, 2025
eeb0fc7
Delete accidentally modified core.conf
AarC10 Jun 28, 2025
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13 changes: 0 additions & 13 deletions app/backplane/sensor_module/.idea/editor.xml
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1 change: 1 addition & 0 deletions app/backplane/sensor_module/.idea/vcs.xml
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18 changes: 18 additions & 0 deletions include/f_core/math/n_math_utils.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
#ifndef N_MATH_UTILS_H
#define N_MATH_UTILS_H

#include <zsl/orientation/quaternions.h>

namespace NMathUtils {
/**
* @brief Calculate roll, pitch, and yaw from a quaternion.
*
* @param[in] inputQuat The input quaternion.
* @param[out] roll Output roll angle in radians.
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@cowsed cowsed Jul 29, 2025

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either this comment is wrong or the implementation is wrong? You have a multiplier of 180/pi which turns radians into degrees in the implementation but say it comes out as radians?

* @param[out] pitch Output pitch angle in radians.
* @param[out] yaw Output yaw angle in radians.
*/
void CalculateRollPitchYaw(zsl_quat inputQuat, float& roll, float& pitch, float& yaw);
};

#endif //N_MATH_UTILS_H
5 changes: 3 additions & 2 deletions lib/f_core/CMakeLists.txt
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Expand Up @@ -5,9 +5,10 @@ zephyr_library()

add_subdirectory_ifdef(CONFIG_F_CORE_DEVICE device)
add_subdirectory_ifdef(CONFIG_F_CORE_SENSOR device/sensor)
add_subdirectory_ifdef(CONFIG_F_CORE_MATH math)
add_subdirectory_ifdef(CONFIG_F_CORE_NET net)
add_subdirectory_ifdef(CONFIG_F_CORE_RADIO radio)
add_subdirectory_ifdef(CONFIG_F_CORE_OS os)
add_subdirectory_ifdef(CONFIG_F_CORE_UTILS utils)
add_subdirectory_ifdef(CONFIG_F_CORE_PROTOCOLS radio/protocols)
add_subdirectory_ifdef(CONFIG_F_CORE_RADIO radio)
add_subdirectory_ifdef(CONFIG_F_CORE_STATE_MACHINE state_machine)
add_subdirectory_ifdef(CONFIG_F_CORE_UTILS utils)
6 changes: 6 additions & 0 deletions lib/f_core/Kconfig
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Expand Up @@ -16,6 +16,12 @@ config F_CORE_SENSOR
help
This option enables sensor functionality for F-Core

config F_CORE_MATH
bool "Math"
help
This option enables math functionality for F-Core
select ZSL

config F_CORE_NET
bool "Network"
help
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7 changes: 7 additions & 0 deletions lib/f_core/math/CMakeLists.txt
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@@ -0,0 +1,7 @@
# Copyright (c) 2025 RIT Launch Initiative
# SPDX-License-Identifier: Apache-2.0

zephyr_library()
FILE(GLOB sources *.cpp)
zephyr_library_sources(${sources})

14 changes: 14 additions & 0 deletions lib/f_core/math/n_math_utils.cpp
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#include "f_core/math/n_math_utils.h"


void NMathUtils::CalculateRollPitchYaw(zsl_quat inputQuat, float& roll, float& pitch, float& yaw)
{
static constexpr multiplier = 180 / ZSL_PI;
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Copilot AI Jun 28, 2025

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Missing type for the constant 'multiplier'. Consider specifying a type (e.g., 'float') or using 'auto' to ensure proper type deduction.

Suggested change
static constexpr multiplier = 180 / ZSL_PI;
static constexpr double multiplier = 180 / ZSL_PI;

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@cowsed cowsed Jul 29, 2025

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robots kinda cooking with this one

zsl_euler euler;

zsl_quat_to_euler(&inputQuat, &euler);

roll = euler.x * multiplier;
pitch = euler.y * multiplier;
yaw = euler.z * multiplier;
}
7 changes: 4 additions & 3 deletions west.yml
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Expand Up @@ -21,9 +21,10 @@ manifest:
- hal_nxp
- littlefs
- loramac-node
- hal_st
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@AarC10 AarC10 Jun 28, 2025

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Note github diff doesn't show that it's present above. This is just deleting a duplicate entry

- lz4
- segger
- percepio
- lz4
clone-depth: 1

- name: zscilib
remote: zephyrproject-rtos
revision: master
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