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.
Fixes underflows at negative altitude (below MSL) and overflows at altitude higher than 655.35m
Corrected parenthesis in maths.h avoid incorrect equations if arguments contain expressions.
* optimize math
Results in considerable flash saving
* log_approx, exp_approx, pow_approx
Taken from https://github.com/jhjourdan/SIMD-math-prims/blob/master/simd_math_prims.h
* Fix pow in rangefinder
* Use approximate function in baro calculation
Maximum error is < 20cm
* fixup! Fix pow in rangefinder
* Renamed several methods and variables so they make more sense.
* Move more altitude hold related code out of imu.c/h into
altitudehold.c/h.
* Fixed a unsigned integer being using instead of an signed integer in
the throttle calculation code.
