mirror of
https://github.com/betaflight/betaflight.git
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117 lines
3.1 KiB
C
117 lines
3.1 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include <string.h>
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#include "common/maths.h"
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#include "common/axis.h"
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#include "sensors.h"
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#include "boardalignment.h"
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static bool standardBoardAlignment = true; // board orientation correction
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static float boardRotation[3][3]; // matrix
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static bool isBoardAlignmentStandard(const boardAlignment_t *boardAlignment)
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{
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return !boardAlignment->rollDegrees && !boardAlignment->pitchDegrees && !boardAlignment->yawDegrees;
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}
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void initBoardAlignment(const boardAlignment_t *boardAlignment)
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{
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if (isBoardAlignmentStandard(boardAlignment)) {
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return;
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}
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standardBoardAlignment = false;
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fp_angles_t rotationAngles;
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rotationAngles.angles.roll = degreesToRadians(boardAlignment->rollDegrees );
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rotationAngles.angles.pitch = degreesToRadians(boardAlignment->pitchDegrees);
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rotationAngles.angles.yaw = degreesToRadians(boardAlignment->yawDegrees );
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buildRotationMatrix(&rotationAngles, boardRotation);
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}
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static void alignBoard(int32_t *vec)
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{
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int32_t x = vec[X];
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int32_t y = vec[Y];
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int32_t z = vec[Z];
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vec[X] = lrintf(boardRotation[0][X] * x + boardRotation[1][X] * y + boardRotation[2][X] * z);
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vec[Y] = lrintf(boardRotation[0][Y] * x + boardRotation[1][Y] * y + boardRotation[2][Y] * z);
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vec[Z] = lrintf(boardRotation[0][Z] * x + boardRotation[1][Z] * y + boardRotation[2][Z] * z);
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}
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void alignSensors(int32_t *dest, uint8_t rotation)
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{
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const int32_t x = dest[X];
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const int32_t y = dest[Y];
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const int32_t z = dest[Z];
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switch (rotation) {
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default:
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case CW0_DEG:
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dest[X] = x;
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dest[Y] = y;
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dest[Z] = z;
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break;
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case CW90_DEG:
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dest[X] = y;
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dest[Y] = -x;
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dest[Z] = z;
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break;
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case CW180_DEG:
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dest[X] = -x;
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dest[Y] = -y;
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dest[Z] = z;
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break;
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case CW270_DEG:
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dest[X] = -y;
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dest[Y] = x;
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dest[Z] = z;
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break;
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case CW0_DEG_FLIP:
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dest[X] = -x;
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dest[Y] = y;
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dest[Z] = -z;
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break;
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case CW90_DEG_FLIP:
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dest[X] = y;
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dest[Y] = x;
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dest[Z] = -z;
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break;
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case CW180_DEG_FLIP:
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dest[X] = x;
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dest[Y] = -y;
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dest[Z] = -z;
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break;
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case CW270_DEG_FLIP:
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dest[X] = -y;
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dest[Y] = -x;
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dest[Z] = -z;
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break;
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}
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if (!standardBoardAlignment)
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alignBoard(dest);
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}
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