public static Matrix3 rotation_df(DFLog.DFItem ATT)
{
//return the current DCM rotation matrix'''
var r = new Matrix3();
r.from_euler(radians((Double)ATT.GetRaw("Roll")), radians((Double)ATT.GetRaw("Pitch")), radians((Double)ATT.GetRaw("Yaw")));
return(r);
}
public static Vector3 earth_accel_df(DFLog.DFItem IMU, DFLog.DFItem ATT)
{
//return earth frame acceleration vector from df log
var r = rotation_df(ATT);
var accel = new Vector3((float)IMU.GetRaw("AccX"), (float)IMU.GetRaw("AccY"), (float)IMU.GetRaw("AccZ"));
return(r * accel);
}