src/main/sensors/boardalignment.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 "common/axis.h"
  24 #include "common/maths.h"
  25
  26 #include "pg/pg.h"
  27
  28 typedef struct boardAlignment_s {
  29     int32_t rollDegrees;
  30     int32_t pitchDegrees;
  31     int32_t yawDegrees;
  32 } boardAlignment_t;
  33
  34 PG_DECLARE(boardAlignment_t, boardAlignment);
  35
  36 void alignSensorViaMatrix(float *dest, fp_rotationMatrix_t* rotationMatrix);
  37 void alignSensorViaRotation(float *dest, uint8_t rotation);
  38
  39 void initBoardAlignment(const boardAlignment_t *boardAlignment);