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.
The test file includes a simple independent implementation of
vector rotation. Each of the following sensor_align_e types are
tested:
* CW0_DEG
* CW90_DEG
* CW180_DEG
* CW270_DEG
* CW0_DEG_FLIP
* CW90_DEG_FLIP
* CW180_DEG_FLIP
* CW270_DEG_FLIP
For each test, three unit vectors and a random vector are tested.
* {1, 0, 0}
* {0, 1, 0}
* {0, 0, 1}
* {R, R, R} (where R is a random number)
The vector under test is rotated using the functions defined in the
test file. The output of the test function is compared to the
output of the sensorsAlign() function. The outputs match for all
test conditions.
