RSpincalc (version 1.0.2)

Qrot: Updates current attitude quaternion

Description

Qrot updates the current attitude quaternion.

Usage

Qrot(Q, w, dT)

Arguments

Q

Quaternion (Q) vector [q1, q2, q3, q4].

w

Angular rate values [wx, wy, wz].

dT

Inverse of update rate.

Value

Q

Updated quaternion (Q) vector [q1, q2, q3, q4].

Examples

Q <- c(-0.1677489, -0.7369231, -0.3682588, 0.5414703)
w <- c(0.1, 0.2, 0.3)
dT <- -.12
Qrot(Q,w,dT)