I use dcm2quat function in a function block in simulink but it doesnt work.

I am working on an object tracking project and I am using MPU9250 with Arduino 2560. I have prepared my system on Simulink. I want to transform my dcm matrix to quartionen with dcmtoquat (function) and simulate with HelpOrientationViewer in a function block by simulink but it doenst work.

could you help me pls?

function dcm = fnc(roll,pitch,yaw)

x =[1 0 0; 0 cos(roll) -sin(roll); 0 sin(roll) cos(roll)];

y =[ cos(pitch) 0 -sin(pitch);0 1 0 ; -sin(pitch) 0 cos(pitch)];

z =[ cos(yaw) -sin(yaw) 0; sin(yaw) cos(yaw) 0 ; 1 0 0];

%zy = bsxfun(@times,z,y);

%dcm = bsxfun(@times,zy,x);

dcm = z*y*x;

Q =dcm2quat(dcm);

viewer = HelpOrientationViewer;

viewer(Q)

pause(.1)

Answer 1

[Githin John]

Since it is not clear from your question as to what the problem is, I am assuming that the issue is that MATLAB can't find the HelperOrientationViewer (note: typo in your code). To use this class, you need the MATLAB Support Package for Arduino Hardware Installed through the Add-Ons explorer.

Answer 2

[Stacey Gage]

Have you tried using the Direction Cosine Matrix to Quaternions block in Aerospace Blockset?