src/main/sensors/boardalignment.h

   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 #pragma once
  19
  20 #include "config/parameter_group.h"
  21 #include "common/vector.h"
  22
  23 typedef struct boardAlignment_s {
  24     int16_t rollDeciDegrees;
  25     int16_t pitchDeciDegrees;
  26     int16_t yawDeciDegrees;
  27 } boardAlignment_t;
  28
  29 PG_DECLARE(boardAlignment_t, boardAlignment);
  30
  31 void initBoardAlignment(void);
  32 void updateBoardAlignment(int16_t roll, int16_t pitch);
  33 void applySensorAlignment(float * dest, float * src, uint8_t rotation);
  34 void applyBoardAlignment(float *vec);
  35 void applyTailSitterAlignment(fpVector3_t *vec);