(window.webpackJsonp=window.webpackJsonp||[]).push([[291],{604:function(t,_,v){"use strict";v.r(_);var d=v(10),l=Object(d.a)({},(function(){var t=this,_=t._self._c;return _("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[_("h1",{attrs:{id:"msg-dcm-orien"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#msg-dcm-orien"}},[t._v("#")]),t._v(" "),_("strong",[t._v("MSG_DCM_ORIEN")])]),t._v(" "),_("p",[t._v("该数据包用于描述：方向余弦矩阵")]),t._v(" "),_("table",[_("thead",[_("tr",[_("th",{staticStyle:{"text-align":"left"}},[t._v("MSG_DCM_ORIEN")]),t._v(" "),_("th"),t._v(" "),_("th"),t._v(" "),_("th"),t._v(" "),_("th"),t._v(" "),_("th")])]),t._v(" "),_("tbody",[_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("Packet ID")]),t._v(" "),_("td",[t._v("0x65")]),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("Length")]),t._v(" "),_("td",[t._v("36")]),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("Read / Write")]),t._v(" "),_("td",[t._v("Read")]),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("Offset")]),t._v(" "),_("td",[t._v("Size")]),t._v(" "),_("td",[t._v("Format")]),t._v(" "),_("td",[t._v("Field")]),t._v(" "),_("td",[t._v("Unit")]),t._v(" "),_("td",[t._v("Description")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("0")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("DCM[0][0]")]),t._v(" "),_("td"),t._v(" "),_("td",[t._v("方向余弦矩阵")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("DCM[0][1]")]),t._v(" "),_("td"),t._v(" "),_("td",[t._v("方向余弦矩阵")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("8")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("DCM[0][2]")]),t._v(" "),_("td"),t._v(" "),_("td",[t._v("方向余弦矩阵")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("12")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("DCM[1][0]")]),t._v(" "),_("td"),t._v(" "),_("td",[t._v("方向余弦矩阵")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("16")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("DCM[1][1]")]),t._v(" "),_("td"),t._v(" "),_("td",[t._v("方向余弦矩阵")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("20")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("DCM[1][2]")]),t._v(" "),_("td"),t._v(" "),_("td",[t._v("方向余弦矩阵")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("24")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("DCM[2][0]")]),t._v(" "),_("td"),t._v(" "),_("td",[t._v("方向余弦矩阵")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("28")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("DCM[2][1]")]),t._v(" "),_("td"),t._v(" "),_("td",[t._v("方向余弦矩阵")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("32")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("DCM[2][2]")]),t._v(" "),_("td"),t._v(" "),_("td",[t._v("方向余弦矩阵")])])])]),t._v(" "),_("p",[t._v("DCM公式如下：")]),t._v(" "),_("p",[t._v("DCM[0][0] = cos(heading) * cos(pitch)")]),t._v(" "),_("p",[t._v("DCM[0][1] = sin(heading) * cos(pitch)")]),t._v(" "),_("p",[t._v("DCM[0][2] = -sin(pitch)")]),t._v(" "),_("p",[t._v("DCM[1][0] = -sin(heading) * cos(roll) + cos(heading) * sin(pitch) * sin(roll)")]),t._v(" "),_("p",[t._v("DCM[1][1] = cos(heading) * cos(roll) + sin(heading) * sin(pitch) * sin(roll)")]),t._v(" "),_("p",[t._v("DCM[1][2] = cos(pitch) * sin(roll)")]),t._v(" "),_("p",[t._v("DCM[2][0] = sin(heading) * sin(roll) + cos(heading) * sin(pitch) * cos(roll)")]),t._v(" "),_("p",[t._v("DCM[2][1] = -cos(heading) * sin(roll) + sin(heading) * sin(pitch) * cos(roll)")]),t._v(" "),_("p",[t._v("DCM[2][2] = cos(pitch) * cos(roll)")])])}),[],!1,null,null,null);_.default=l.exports}}]);