Function rc_quaternion_to_tb#

Defined in File quaternion.h

Function Documentation#

int rc_quaternion_to_tb(rc_vector_t q, rc_vector_t *tb)#

Calculates 321 Tait Bryan angles in array order XYZ with operation order 321(yaw-Z, pitch-Y, roll-x).

If tb is already allocated and of length 3 then the new values are written in place, otherwise any existing memory is freed and a new vector of length 3 is allocated for tb.

Parameters:

q – [in] The quarternion in form of a vector of lenth 4
tb – Output tait-bryan angles

Returns:

Returns 0 on success or -1 on failure