Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

Refactored arbitrary gyro and mag alignment.

Browse source 
The original implementation:

* removed the old 'alignment' variable
* did not require 'ALIGN_CUSTOM'
* always used rotation matrix
* had no additional per-pid-loop conditional logic.

Extract currently unused code into tests.
In preparation for either deleting or re-using in validateAndFixConfig.

Fix code style of some old boardalignment code.

De-duplicate vector rotation code.

Now that rotation code is exacted from `alignBoard` and now  doesn't use
`boardRotation` some if it was similar to the code in `rotateV` in
maths.c

Use DECIDEGREES for mag and gyro/acc custom alignments.

Use unnamed structure instead of `values`.

Redefine what 'custom' orientation means.

Move alignment test-only code into the tests.

Ensure gyro/mag custom alignment settings follow the enum variations.

This can't be applied to ALIGN_DEFAULT because, in the case of the MAG,
the default isn't actually known until the gyro is detected, see
`compassDetect`.

OMNIBUSF4/F7 - Don't use ALIGN_DEFAULT in target.h,
common_defaults_post.h does this now.

Comment cleanup.

Delete unused alignment code left from various tests/refactoring
efforts.

* Please do not squash this commit.

Fix SITL build by avoiding structure assignment with anonymous inner
struct.

The error from the build server was as follows:

```./src/main/common/sensor_alignment.c:49:5: error: missing initializer
for field ‘yaw’ of ‘struct <anonymous>’
[-Werror=missing-field-initializers]
     *sensorAlignment = CUSTOM_ALIGN_CW0_DEG;
     ^
In file included from ./src/main/common/sensor_alignment.c:27:0:
./src/main/common/sensor_alignment.h:80:17: note: ‘yaw’ declared here
         int16_t yaw;
                 ^
```

Cleanup sensor_alignment API.
This commit is contained in:
Dominic Clifton 2019-06-26 00:12:51 +02:00 • committed by mikeller
parent 494b559277
commit 980df1536f
27 changed files with 558 additions and 139 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/test/unit/sensor_gyro_unittest.cc
View file

@ -144,9 +144,9 @@ TEST(SensorGyro, Update)
EXPECT_FLOAT_EQ(0, gyro.gyroADCf[Z]);
fakeGyroSet(gyroDevPtr, 15, 26, 97);
gyroUpdate(currentTimeUs);
EXPECT_FLOAT_EQ(10 * gyroDevPtr->scale, gyro.gyroADCf[X]); // gyroADCf values are scaled
EXPECT_FLOAT_EQ(20 * gyroDevPtr->scale, gyro.gyroADCf[Y]);
EXPECT_FLOAT_EQ(90 * gyroDevPtr->scale, gyro.gyroADCf[Z]);
EXPECT_NEAR(10 * gyroDevPtr->scale, gyro.gyroADCf[X], 1e-3); // gyroADCf values are scaled
EXPECT_NEAR(20 * gyroDevPtr->scale, gyro.gyroADCf[Y], 1e-3);
EXPECT_NEAR(90 * gyroDevPtr->scale, gyro.gyroADCf[Z], 1e-3);
}
// STUBS