4 #include "BodyEnvironment.hpp"
8 // The XYZ coordinate system has Z as the earth's axis, the Y axis
9 // pointing out the equator at zero longitude, and the X axis pointing
10 // out the middle of the western hemisphere.
13 static void calcAlphaBeta(State* s, float* wind, float* alpha, float* beta);
15 // Calculates the instantaneous rotation velocities about each
17 static void calcEulerRates(State* s,
18 float* roll, float* pitch, float* hdg);
20 // Returns a global to "local" (north, east, down) matrix. Note
21 // that the latitude passed in is geoDETic.
22 static void xyz2nedMat(double lat, double lon, float* out);
24 // Conversion between a euler triplet and a matrix that transforms
25 // "local" (north/east/down) coordinates to the aircraft frame.
26 static void euler2orient(float roll, float pitch, float hdg,
28 static void orient2euler(float* o,
29 float* roll, float* pitch, float* hdg);
31 static void geodUp(double lat, double lon, float* up);
32 static void geodUp(double* pos, float* up);