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 #include "common/maths.h"
  26 #include "common/vector.h"
  27 #include "common/axis.h"
  28
  29 #include "config/parameter_group.h"
  30 #include "config/parameter_group_ids.h"
  31 #include "fc/runtime_config.h"
  32
  33 #include "drivers/sensor.h"
  34
  35 #if defined(UNIT_TEST)
  36 // Unit tests can't include settings. Provide some dummy limits.
  37 #define SETTING_ALIGN_BOARD_ROLL_MIN -1800
  38 #define SETTING_ALIGN_BOARD_ROLL_MAX 3600
  39 #define SETTING_ALIGN_BOARD_PITCH_MIN -1800
  40 #define SETTING_ALIGN_BOARD_PITCH_MAX 3600
  41 #else
  42 #include "fc/settings.h"
  43 #endif
  44
  45 #include "boardalignment.h"
  46
  47 static bool standardBoardAlignment = true;     // board orientation correction
  48 static fpMat3_t boardRotMatrix;
  49 static fpMat3_t tailRotMatrix;
  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     standardBoardAlignment=isBoardAlignmentStandard(boardAlignment());
  62     fp_angles_t rotationAngles;
  63
  64     rotationAngles.angles.roll  = DECIDEGREES_TO_RADIANS(boardAlignment()->rollDeciDegrees );
  65     rotationAngles.angles.pitch = DECIDEGREES_TO_RADIANS(boardAlignment()->pitchDeciDegrees);
  66     rotationAngles.angles.yaw   = DECIDEGREES_TO_RADIANS(boardAlignment()->yawDeciDegrees  );
  67
  68     rotationMatrixFromAngles(&boardRotMatrix, &rotationAngles);
  69     fp_angles_t tailSitter_rotationAngles;
  70     tailSitter_rotationAngles.angles.roll  = DECIDEGREES_TO_RADIANS(0);
  71     tailSitter_rotationAngles.angles.pitch = DECIDEGREES_TO_RADIANS(900);
  72     tailSitter_rotationAngles.angles.yaw   = DECIDEGREES_TO_RADIANS(0);
  73     rotationMatrixFromAngles(&tailRotMatrix, &tailSitter_rotationAngles);
  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 applyTailSitterAlignment(fpVector3_t *fpVec)
  91 {
  92     if (!STATE(TAILSITTER)) {
  93         return;
  94     }
  95     rotationMatrixRotateVector(fpVec, fpVec, &tailRotMatrix);
  96 }
  97
  98 void applyBoardAlignment(float *vec)
  99 {
 100     if (standardBoardAlignment && (!STATE(TAILSITTER))) {
 101         return;
 102     }
 103
 104     fpVector3_t fpVec = { .v = { vec[X], vec[Y], vec[Z] } };
 105     rotationMatrixRotateVector(&fpVec, &fpVec, &boardRotMatrix);
 106     applyTailSitterAlignment(&fpVec);
 107     vec[X] = lrintf(fpVec.x);
 108     vec[Y] = lrintf(fpVec.y);
 109     vec[Z] = lrintf(fpVec.z);
 110 }
 111
 112 void FAST_CODE applySensorAlignment(float * dest, float * src, uint8_t rotation)
 113 {
 114     // Create a copy so we could use the same buffer for src & dest
 115     const float x = src[X];
 116     const float y = src[Y];
 117     const float z = src[Z];
 118
 119     switch (rotation) {
 120     default:
 121     case CW0_DEG:
 122         dest[X] = x;
 123         dest[Y] = y;
 124         dest[Z] = z;
 125         break;
 126     case CW90_DEG:
 127         dest[X] = y;
 128         dest[Y] = -x;
 129         dest[Z] = z;
 130         break;
 131     case CW180_DEG:
 132         dest[X] = -x;
 133         dest[Y] = -y;
 134         dest[Z] = z;
 135         break;
 136     case CW270_DEG:
 137         dest[X] = -y;
 138         dest[Y] = x;
 139         dest[Z] = z;
 140         break;
 141     case CW0_DEG_FLIP:
 142         dest[X] = -x;
 143         dest[Y] = y;
 144         dest[Z] = -z;
 145         break;
 146     case CW90_DEG_FLIP:
 147         dest[X] = y;
 148         dest[Y] = x;
 149         dest[Z] = -z;
 150         break;
 151     case CW180_DEG_FLIP:
 152         dest[X] = x;
 153         dest[Y] = -y;
 154         dest[Z] = -z;
 155         break;
 156     case CW270_DEG_FLIP:
 157         dest[X] = -y;
 158         dest[Y] = -x;
 159         dest[Z] = -z;
 160         break;
 161     }
 162 }