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rotations: sync rotation enum, SENS_BOARD_ROT, CAL_MAGx_ROT with MAV_SENSOR_ORIENTATION

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Daniel Agar
2020-09-21 17:38:56 -04:00
parent 8b26b84fd1
commit 00e955cc3e
9 changed files with 25 additions and 89 deletions
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src/lib/conversion/RotationTest.cpp
-13
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@@ -97,25 +97,12 @@ TEST(Rotations, duplicates)
if (j == ROTATION_ROLL_180_YAW_90 && i == ROTATION_PITCH_180_YAW_270) { continue; }
// ROTATION_ROLL_180_PITCH_90 (29) = ROTATION_PITCH_90_YAW_180 (43)
if (i == ROTATION_ROLL_180_PITCH_90 && j == ROTATION_PITCH_90_YAW_180) { continue; }
if (j == ROTATION_ROLL_180_PITCH_90 && i == ROTATION_PITCH_90_YAW_180) { continue; }
// ROTATION_ROLL_90_PITCH_180 (31) = ROTATION_ROLL_270_YAW_180 (41)
if (i == ROTATION_ROLL_90_PITCH_180 && j == ROTATION_ROLL_270_YAW_180) { continue; }
if (j == ROTATION_ROLL_90_PITCH_180 && i == ROTATION_ROLL_270_YAW_180) { continue; }
// ROTATION_ROLL_90_PITCH_180_YAW_90 (36) = ROTATION_ROLL_270_YAW_270 (42)
if (i == ROTATION_ROLL_90_PITCH_180_YAW_90 && j == ROTATION_ROLL_270_YAW_270) { continue; }
if (j == ROTATION_ROLL_90_PITCH_180_YAW_90 && i == ROTATION_ROLL_270_YAW_270) { continue; }
// otherwise all rotations should be different
ASSERT_GT((transformed_1 - transformed_2).norm(), 0) << "Rotation " << i << " and " << j << " equal";
}
src/lib/conversion/rotation.cpp
+2 -25
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@@ -245,23 +245,6 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
return;
}
case ROTATION_PITCH_9_YAW_180: {
const float tmpx = x;
const float tmpy = y;
const float tmpz = z;
x = -0.987688f * tmpx + 0.000000f * tmpy + -0.156434f * tmpz;
y = 0.000000f * tmpx + -1.000000f * tmpy + 0.000000f * tmpz;
z = -0.156434f * tmpx + 0.000000f * tmpy + 0.987688f * tmpz;
return;
}
case ROTATION_PITCH_45: {
tmp = M_SQRT1_2_F * x + M_SQRT1_2_F * z;
z = M_SQRT1_2_F * z - M_SQRT1_2_F * x;
x = tmp;
return;
}
case ROTATION_PITCH_315: {
tmp = M_SQRT1_2_F * x - M_SQRT1_2_F * z;
z = M_SQRT1_2_F * z + M_SQRT1_2_F * x;
@@ -285,10 +268,7 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
return;
}
case ROTATION_ROLL_180_PITCH_90:
// FALLTHROUGH
case ROTATION_PITCH_90_YAW_180: {
case ROTATION_ROLL_180_PITCH_90: {
tmp = x;
x = -z;
y = -y;
@@ -339,10 +319,7 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
return;
}
case ROTATION_ROLL_90_PITCH_180_YAW_90:
// FALLTHROUGH
case ROTATION_ROLL_270_YAW_270: {
case ROTATION_ROLL_90_PITCH_180_YAW_90: {
tmp = x;
x = z;
z = -y;
src/lib/conversion/rotation.h
+1 -8
View File
@@ -91,10 +91,7 @@ enum Rotation {
ROTATION_PITCH_315 = 39,
ROTATION_ROLL_90_PITCH_315 = 40,
ROTATION_ROLL_270_YAW_180 = 41,
ROTATION_ROLL_270_YAW_270 = 42,
ROTATION_PITCH_90_YAW_180 = 43,
ROTATION_PITCH_9_YAW_180 = 44,
ROTATION_PITCH_45 = 45,
ROTATION_MAX
};
@@ -147,10 +144,6 @@ const rot_lookup_t rot_lookup[] = {
{ 0, 315, 0 },
{ 90, 315, 0 },
{270, 0, 180 },
{270, 0, 270 },
{ 0, 90, 180 },
{ 0, 9, 180 },
{ 0, 45, 0 },
};
/**