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Merge pull request #10712 from mikeller/cleanup_matrix_rotation

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Cleaned up matrix rotation.
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Michael Keller 2021-05-18 00:46:04 +12:00 • committed by GitHub
commit dfcd11bd69
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4 changed files with 5 additions and 56 deletions
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6
src/main/sensors/boardalignment.c
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@ -64,14 +64,14 @@ void initBoardAlignment(const boardAlignment_t *boardAlignment)
buildRotationMatrix(&rotationAngles, &boardRotation);
}
static FAST_CODE void alignBoard(float *vec)
static void alignBoard(float *vec)
{
applyRotation(vec, &boardRotation);
applyMatrixRotation(vec, &boardRotation);
}
FAST_CODE_NOINLINE void alignSensorViaMatrix(float *dest, fp_rotationMatrix_t* sensorRotationMatrix)
{
applyRotation(dest, sensorRotationMatrix);
applyMatrixRotation(dest, sensorRotationMatrix);
if (!standardBoardAlignment) {
alignBoard(dest);