Initial commit of gyro-integrating function.#11
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ivanpadilla7 wants to merge 5 commits intoarahlin:masterfrom
Open
Initial commit of gyro-integrating function.#11ivanpadilla7 wants to merge 5 commits intoarahlin:masterfrom
ivanpadilla7 wants to merge 5 commits intoarahlin:masterfrom
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The integration happens directly in the sensor frame, so the rotation to inertial frame is not needed.
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This adds a function for integrating gyroscopes measurements given an initial (az/el/pa) angle: qp_omega2azelpsi(), in qpoint.c. It needs two auxiliary functions, both in quaternion.c: apply_angular_velocity(), and a Quaternion_rot_vector(), which rotates a vector by a quaternion.
There is also a new qp_quat_azelpsi(), which inverts qp_azelpsi_quat(). I don't think these should be exposed, because it's the only place in qpoint where the quaternion doesn't represent a Celestial coordinate.
There are two versions: Quaternion_rot_vector(), and Quaternion_rot_vector_fast(). In principle, only the fast one needs to exist, but there's a bug and I haven't gotten it to work yet. So for now, there's a flag in omega2azelpa() to switch between them, for testing purposes. That'll be removed later.