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Function rc_quaternion_to_tb

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