欧拉角与四元数互转

//用于MPU6050姿态运算 #ifndef QE_H #define QE_H #include "includes.h" typedef struct { float w; float x; float y; float z; }_Quaternion; typedef struct { float roll; float pitch; float yaw; }_Euler; //extern void Euler_Fix( _Euler * e ,_Quaternion q_fix ); extern void Euler_Fix( _Euler * e ,uint8_t type ); extern _Euler QuaternionToEuler( _Quaternion q ); extern _Quaternion EulerToQuaternion( _Euler e ); extern _Quaternion QuaternionMul( _Quaternion *q1, _Quaternion *q2); extern float QuaternionModulo( _Quaternion q ); #endif//QE_H

Q&E.c
Q&E.h