Decouple board alignment code.

src/boardalignment.c

@@ -1,25 +1,38 @@
-#include "board.h"
-#include "mw.h"
+#include "stdbool.h"
+#include "stdint.h"
+
+#include "math.h"
+
+#include "maths.h"
+#include "axis.h"
+#include "sensors_common.h"
+
+#include "boardalignment.h"
 
 static bool standardBoardAlignment = true;     // board orientation correction
 static float boardRotation[3][3];              // matrix
 
-void initBoardAlignment(void)
+static bool isBoardAlignmentStandard(boardAlignment_t *boardAlignment)
+{
+    return !boardAlignment->rollDegrees && !boardAlignment->pitchDegrees && !boardAlignment->yawDegrees;
+}
+
+void initBoardAlignment(boardAlignment_t *boardAlignment)
 {
     float roll, pitch, yaw;
     float cosx, sinx, cosy, siny, cosz, sinz;
     float coszcosx, coszcosy, sinzcosx, coszsinx, sinzsinx;
 
-    // standard alignment, nothing to calculate
-    if (!mcfg.board_align_roll && !mcfg.board_align_pitch && !mcfg.board_align_yaw)
+    if (isBoardAlignmentStandard(boardAlignment)) {
         return;
+    }
 
     standardBoardAlignment = false;
 
     // deg2rad
-    roll = mcfg.board_align_roll * M_PI / 180.0f;
-    pitch = mcfg.board_align_pitch * M_PI / 180.0f;
-    yaw = mcfg.board_align_yaw * M_PI / 180.0f;
+    roll = boardAlignment->rollDegrees * M_PI / 180.0f;
+    pitch = boardAlignment->pitchDegrees * M_PI / 180.0f;
+    yaw = boardAlignment->yawDegrees * M_PI / 180.0f;
 
     cosx = cosf(roll);
     sinx = sinf(roll);
@@ -48,7 +61,7 @@ void initBoardAlignment(void)
     boardRotation[2][2] = cosy * cosx;
 }
 
-void alignBoard(int16_t *vec)
+static void alignBoard(int16_t *vec)
 {
     int16_t x = vec[X];
     int16_t y = vec[Y];

src/boardalignment.h

@@ -1,4 +1,10 @@
 #pragma once
 
+typedef struct boardAlignment_s {
+    int16_t rollDegrees;
+    int16_t pitchDegrees;
+    int16_t yawDegrees;
+} boardAlignment_t;
+
 void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation);
-void initBoardAlignment(void);
+void initBoardAlignment(boardAlignment_t *boardAlignment);

src/build_config.c

@@ -11,6 +11,7 @@
 #include "flight_mixer.h"
 #include "sensors_common.h"
 #include "battery.h"
+#include "boardalignment.h"
 #include "config.h"
 
 #include "drivers/serial_common.h"

src/config.c

@@ -187,9 +187,9 @@ static void resetConf(void)
     mcfg.gyro_align = ALIGN_DEFAULT;
     mcfg.acc_align = ALIGN_DEFAULT;
     mcfg.mag_align = ALIGN_DEFAULT;
-    mcfg.board_align_roll = 0;
-    mcfg.board_align_pitch = 0;
-    mcfg.board_align_yaw = 0;
+    mcfg.boardAlignment.rollDegrees = 0;
+    mcfg.boardAlignment.pitchDegrees = 0;
+    mcfg.boardAlignment.yawDegrees = 0;
     mcfg.acc_hardware = ACC_DEFAULT;     // default/autodetect
     mcfg.max_angle_inclination = 500;    // 50 degrees
     mcfg.yaw_control_direction = 1;

src/config.h

@@ -134,9 +134,7 @@ typedef struct master_t {
     sensor_align_e gyro_align;              // gyro alignment
     sensor_align_e acc_align;               // acc alignment
     sensor_align_e mag_align;               // mag alignment
-    int16_t board_align_roll;               // board alignment correction in roll (deg)
-    int16_t board_align_pitch;              // board alignment correction in pitch (deg)
-    int16_t board_align_yaw;                // board alignment correction in yaw (deg)
+    boardAlignment_t boardAlignment;
     int8_t yaw_control_direction;           // change control direction of yaw (inverted, normal)
     uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
     uint16_t gyro_lpf;                      // gyro LPF setting - values are driver specific, in case of invalid number, a reasonable default ~30-40HZ is chosen.

src/main.c

@@ -3,6 +3,8 @@
 
 #include "rx.h"
 #include "telemetry_common.h"
+#include "boardalignment.h"
+#include "config.h"
 
 #include "build_config.h"
 
@@ -37,7 +39,7 @@ int main(void)
     }
 
     adcInit(&adc_params);
-    initBoardAlignment();
+    initBoardAlignment(&mcfg.boardAlignment);
 
     // We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
     sensorsSet(SENSORS_SET);

src/serial_cli.c

@@ -154,9 +154,9 @@ const clivalue_t valueTable[] = {
     { "align_gyro", VAR_UINT8, &mcfg.gyro_align, 0, 8 },
     { "align_acc", VAR_UINT8, &mcfg.acc_align, 0, 8 },
     { "align_mag", VAR_UINT8, &mcfg.mag_align, 0, 8 },
-    { "align_board_roll", VAR_INT16, &mcfg.board_align_roll, -180, 360 },
-    { "align_board_pitch", VAR_INT16, &mcfg.board_align_pitch, -180, 360 },
-    { "align_board_yaw", VAR_INT16, &mcfg.board_align_yaw, -180, 360 },
+    { "align_board_roll", VAR_INT16, &mcfg.boardAlignment.rollDegrees, -180, 360 },
+    { "align_board_pitch", VAR_INT16, &mcfg.boardAlignment.pitchDegrees, -180, 360 },
+    { "align_board_yaw", VAR_INT16, &mcfg.boardAlignment.yawDegrees, -180, 360 },
     { "yaw_control_direction", VAR_INT8, &mcfg.yaw_control_direction, -1, 1 },
     { "acc_hardware", VAR_UINT8, &mcfg.acc_hardware, 0, 5 },
     { "max_angle_inclination", VAR_UINT16, &mcfg.max_angle_inclination, 100, 900 },