.cThe files are all shown as follows, which q2matmeans that the attitude quaternion is converted to a direction cosine matrix, which q2attmeans that the attitude quaternion is converted into Euler angles, which q2rvmeans that the attitude quaternion is converted into an equivalent rotation vector, which qq2phimeans that the calculation of two quaternions corresponds to The misalignment angle qcombineis one of the functions, skewwhich means to calculate the antisymmetric matrix of a vector, which qmulqmeans the multiplication of the quaternion, which is the function of dv2attithe two-vector attitude determination, which qupdtis the function of updating the quaternion by using the rotation vector in the attitude update of the inertial navigation, and the rest For functions, see Function Remarks and Symbols.
/*------------------------------------------------------------------------------
* attconvert : attitude transform functions
*
* Copyright (C) 2022-2023 by xxx, All rights reserved.
* version : 1.0
* history : 2022/08/18 1.0 attconvert ver.1.0.0
-----------------------------------------------------------------------------*/
#include <stdarg.h>