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beginnings of the great sensor orientation unfucking. WORK IN PROGRESS DO NOT FLY.

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git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@397 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-14 12:27:26 +00:00
parent edb0ef01b7
commit 1cc306493b
15 changed files with 213 additions and 747 deletions
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48
src/drv_system.c
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@ -177,3 +177,51 @@ void systemReset(bool toBootloader)
// Generate system reset
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
}
void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation)
{
switch (rotation) {
case CW0_DEG:
dest[X] = src[X];
dest[Y] = src[Y];
dest[Z] = src[Z];
break;
case CW90_DEG:
dest[X] = src[Y];
dest[Y] = -src[X];
dest[Z] = src[Z];
break;
case CW180_DEG:
dest[X] = -src[X];
dest[Y] = -src[Y];
dest[Z] = src[Z];
break;
case CW270_DEG:
dest[X] = -src[Y];
dest[Y] = src[X];
dest[Z] = src[Z];
break;
case CW0_DEG_FLIP:
dest[X] = -src[X];
dest[Y] = src[Y];
dest[Z] = -src[Z];
break;
case CW90_DEG_FLIP:
dest[X] = src[Y];
dest[Y] = src[X];
dest[Z] = -src[Z];
break;
case CW180_DEG_FLIP:
dest[X] = src[X];
dest[Y] = -src[Y];
dest[Z] = -src[Z];
break;
case CW270_DEG_FLIP:
dest[X] = -src[Y];
dest[Y] = -src[X];
dest[Z] = -src[Z];
break;
default:
break;
}
}