src/main/common/sensor_alignment.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "axis.h"
  24 #include "maths.h"
  25
  26 typedef enum {
  27     ALIGN_DEFAULT = 0, // driver-provided alignment
  28
  29     // the order of these 8 values also correlate to corresponding code in ALIGNMENT_TO_BITMASK.
  30
  31                             // R, P, Y
  32     CW0_DEG = 1,            // 00,00,00
  33     CW90_DEG = 2,           // 00,00,01
  34     CW180_DEG = 3,          // 00,00,10
  35     CW270_DEG = 4,          // 00,00,11
  36     CW0_DEG_FLIP = 5,       // 00,10,00 // _FLIP = 2x90 degree PITCH rotations
  37     CW90_DEG_FLIP = 6,      // 00,10,01
  38     CW180_DEG_FLIP = 7,     // 00,10,10
  39     CW270_DEG_FLIP = 8,     // 00,10,11
  40
  41     ALIGN_CUSTOM = 9,    // arbitrary sensor angles, e.g. for external sensors
  42 } sensor_align_e;
  43
  44 typedef union sensorAlignment_u {
  45     // value order is the same as axis_e
  46
  47     // values are in DECIDEGREES, and should be limited to +/- 3600
  48
  49     int16_t raw[XYZ_AXIS_COUNT];
  50     struct {
  51         int16_t roll;
  52         int16_t pitch;
  53         int16_t yaw;
  54     };
  55 } sensorAlignment_t;
  56
  57 #define SENSOR_ALIGNMENT(ROLL, PITCH, YAW) ((sensorAlignment_t){\
  58     .roll = DEGREES_TO_DECIDEGREES(ROLL), \
  59     .pitch = DEGREES_TO_DECIDEGREES(PITCH), \
  60     .yaw = DEGREES_TO_DECIDEGREES(YAW), \
  61 })
  62
  63 #define CUSTOM_ALIGN_CW0_DEG         SENSOR_ALIGNMENT(  0,   0,   0)
  64 #define CUSTOM_ALIGN_CW90_DEG        SENSOR_ALIGNMENT(  0,   0,  90)
  65 #define CUSTOM_ALIGN_CW180_DEG       SENSOR_ALIGNMENT(  0,   0, 180)
  66 #define CUSTOM_ALIGN_CW270_DEG       SENSOR_ALIGNMENT(  0,   0, 270)
  67 #define CUSTOM_ALIGN_CW0_DEG_FLIP    SENSOR_ALIGNMENT(  0, 180,   0)
  68 #define CUSTOM_ALIGN_CW90_DEG_FLIP   SENSOR_ALIGNMENT(  0, 180,  90)
  69 #define CUSTOM_ALIGN_CW180_DEG_FLIP  SENSOR_ALIGNMENT(  0, 180, 180)
  70 #define CUSTOM_ALIGN_CW270_DEG_FLIP  SENSOR_ALIGNMENT(  0, 180, 270)
  71
  72 void buildRotationMatrixFromAlignment(const sensorAlignment_t* alignment, fp_rotationMatrix_t* rm);
  73 void buildAlignmentFromStandardAlignment(sensorAlignment_t* sensorAlignment, sensor_align_e alignment);