src/main/sensors/boardalignment.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20 #include <math.h>
  21 #include <string.h>
  22
  23 #include "platform.h"
  24
  25 FILE_COMPILE_FOR_SPEED
  26
  27 #include "common/maths.h"
  28 #include "common/vector.h"
  29 #include "common/axis.h"
  30
  31 #include "config/parameter_group.h"
  32 #include "config/parameter_group_ids.h"
  33
  34 #include "drivers/sensor.h"
  35
  36 #if defined(UNIT_TEST)
  37 // Unit tests can't include settings. Provide some dummy limits.
  38 #define SETTING_ALIGN_BOARD_ROLL_MIN -1800
  39 #define SETTING_ALIGN_BOARD_ROLL_MAX 3600
  40 #define SETTING_ALIGN_BOARD_PITCH_MIN -1800
  41 #define SETTING_ALIGN_BOARD_PITCH_MAX 3600
  42 #else
  43 #include "fc/settings.h"
  44 #endif
  45
  46 #include "boardalignment.h"
  47
  48 static bool standardBoardAlignment = true;     // board orientation correction
  49 static fpMat3_t boardRotMatrix;
  50
  51 // no template required since defaults are zero
  52 PG_REGISTER(boardAlignment_t, boardAlignment, PG_BOARD_ALIGNMENT, 0);
  53
  54 static bool isBoardAlignmentStandard(const boardAlignment_t *boardAlignment)
  55 {
  56     return !boardAlignment->rollDeciDegrees && !boardAlignment->pitchDeciDegrees && !boardAlignment->yawDeciDegrees;
  57 }
  58
  59 void initBoardAlignment(void)
  60 {
  61     if (isBoardAlignmentStandard(boardAlignment())) {
  62         standardBoardAlignment = true;
  63     } else {
  64         fp_angles_t rotationAngles;
  65
  66         standardBoardAlignment = false;
  67
  68         rotationAngles.angles.roll  = DECIDEGREES_TO_RADIANS(boardAlignment()->rollDeciDegrees );
  69         rotationAngles.angles.pitch = DECIDEGREES_TO_RADIANS(boardAlignment()->pitchDeciDegrees);
  70         rotationAngles.angles.yaw   = DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees  );
  71
  72         rotationMatrixFromAngles(&boardRotMatrix, &rotationAngles);
  73     }
  74 }
  75
  76 void updateBoardAlignment(int16_t roll, int16_t pitch)
  77 {
  78     const float sinAlignYaw = sin_approx(DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees));
  79     const float cosAlignYaw = cos_approx(DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees));
  80
  81     int16_t rollDeciDegrees = boardAlignment()->rollDeciDegrees + -sinAlignYaw * pitch + cosAlignYaw * roll;
  82     int16_t pitchDeciDegrees = boardAlignment()->pitchDeciDegrees + cosAlignYaw * pitch + sinAlignYaw * roll;
  83
  84     boardAlignmentMutable()->rollDeciDegrees = constrain(rollDeciDegrees, SETTING_ALIGN_BOARD_ROLL_MIN, SETTING_ALIGN_BOARD_ROLL_MAX);
  85     boardAlignmentMutable()->pitchDeciDegrees = constrain(pitchDeciDegrees, SETTING_ALIGN_BOARD_PITCH_MIN, SETTING_ALIGN_BOARD_PITCH_MAX);
  86
  87     initBoardAlignment();
  88 }
  89
  90 void applyBoardAlignment(int32_t *vec)
  91 {
  92     if (standardBoardAlignment) {
  93         return;
  94     }
  95
  96     fpVector3_t fpVec = { .v = { vec[X], vec[Y], vec[Z] } };
  97     rotationMatrixRotateVector(&fpVec, &fpVec, &boardRotMatrix);
  98
  99     vec[X] = lrintf(fpVec.x);
 100     vec[Y] = lrintf(fpVec.y);
 101     vec[Z] = lrintf(fpVec.z);
 102 }
 103
 104 void FAST_CODE applySensorAlignment(int32_t * dest, int32_t * src, uint8_t rotation)
 105 {
 106     // Create a copy so we could use the same buffer for src & dest
 107     const int32_t x = src[X];
 108     const int32_t y = src[Y];
 109     const int32_t z = src[Z];
 110
 111     switch (rotation) {
 112     default:
 113     case CW0_DEG:
 114         dest[X] = x;
 115         dest[Y] = y;
 116         dest[Z] = z;
 117         break;
 118     case CW90_DEG:
 119         dest[X] = y;
 120         dest[Y] = -x;
 121         dest[Z] = z;
 122         break;
 123     case CW180_DEG:
 124         dest[X] = -x;
 125         dest[Y] = -y;
 126         dest[Z] = z;
 127         break;
 128     case CW270_DEG:
 129         dest[X] = -y;
 130         dest[Y] = x;
 131         dest[Z] = z;
 132         break;
 133     case CW0_DEG_FLIP:
 134         dest[X] = -x;
 135         dest[Y] = y;
 136         dest[Z] = -z;
 137         break;
 138     case CW90_DEG_FLIP:
 139         dest[X] = y;
 140         dest[Y] = x;
 141         dest[Z] = -z;
 142         break;
 143     case CW180_DEG_FLIP:
 144         dest[X] = x;
 145         dest[Y] = -y;
 146         dest[Z] = -z;
 147         break;
 148     case CW270_DEG_FLIP:
 149         dest[X] = -y;
 150         dest[Y] = -x;
 151         dest[Z] = -z;
 152         break;
 153     }
 154 }