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remove rotation 41 (ROLL_270_YAW_180) #16449

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merged 1 commit into from
Dec 28, 2020
Merged

remove rotation 41 (ROLL_270_YAW_180) #16449

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6 changes: 0 additions & 6 deletions src/lib/conversion/RotationTest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -97,12 +97,6 @@ TEST(Rotations, duplicates)
if (j == ROTATION_ROLL_180_YAW_90 && i == ROTATION_PITCH_180_YAW_270) { 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; }


// otherwise all rotations should be different
ASSERT_GT((transformed_1 - transformed_2).norm(), 0) << "Rotation " << i << " and " << j << " equal";
}
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5 changes: 1 addition & 4 deletions src/lib/conversion/rotation.cpp
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Expand Up @@ -284,10 +284,7 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
return;
}

case ROTATION_ROLL_90_PITCH_180:

// FALLTHROUGH
case ROTATION_ROLL_270_YAW_180: {
case ROTATION_ROLL_90_PITCH_180: {
tmp = y;
x = -x;
y = -z;
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8 changes: 3 additions & 5 deletions src/lib/conversion/rotation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -90,18 +90,17 @@ enum Rotation {
ROTATION_ROLL_90_PITCH_68_YAW_293 = 38,
ROTATION_PITCH_315 = 39,
ROTATION_ROLL_90_PITCH_315 = 40,
ROTATION_ROLL_270_YAW_180 = 41,

ROTATION_MAX
};

typedef struct {
struct rot_lookup_t {
uint16_t roll;
uint16_t pitch;
uint16_t yaw;
} rot_lookup_t;
};

const rot_lookup_t rot_lookup[] = {
static constexpr rot_lookup_t rot_lookup[ROTATION_MAX] = {
{ 0, 0, 0 },
{ 0, 0, 45 },
{ 0, 0, 90 },
Expand Down Expand Up @@ -143,7 +142,6 @@ const rot_lookup_t rot_lookup[] = {
{ 90, 68, 293 },
{ 0, 315, 0 },
{ 90, 315, 0 },
{270, 0, 180 },
};

/**
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3 changes: 0 additions & 3 deletions src/modules/commander/mag_calibration.cpp
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Expand Up @@ -737,9 +737,6 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma

// FALLTHROUGH
case ROTATION_PITCH_180_YAW_270: // skip 27, same as 10 ROTATION_ROLL_180_YAW_90

// FALLTHROUGH
case ROTATION_ROLL_270_YAW_180: // skip 41, same as 31 ROTATION_ROLL_90_PITCH_180
MSE[r] = FLT_MAX;
break;

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5 changes: 2 additions & 3 deletions src/modules/mavlink/mavlink_messages.cpp
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Expand Up @@ -222,9 +222,8 @@ static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293 == static_cast<MAV_SE
static_assert(MAV_SENSOR_ROTATION_PITCH_315 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_315), "Pitch: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_315 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_PITCH_315),
"Roll: 90, Pitch: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_180 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270_YAW_180),
"Roll: 270, Yaw: 180");
static_assert(42 == ROTATION_MAX, "Keep MAV_SENSOR_ROTATION and PX4 Rotation in sync");

static_assert(41 == ROTATION_MAX, "Keep MAV_SENSOR_ROTATION and PX4 Rotation in sync");

static uint16_t cm_uint16_from_m_float(float m)
{
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params.c
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Expand Up @@ -146,10 +146,9 @@ PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @group Sensors
*/
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params_acc0.c
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Expand Up @@ -104,10 +104,9 @@ PARAM_DEFINE_INT32(CAL_ACC0_PRIO, -1);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params_acc1.c
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Expand Up @@ -104,10 +104,9 @@ PARAM_DEFINE_INT32(CAL_ACC1_PRIO, -1);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params_acc2.c
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Expand Up @@ -104,10 +104,9 @@ PARAM_DEFINE_INT32(CAL_ACC2_PRIO, -1);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params_acc3.c
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Expand Up @@ -104,10 +104,9 @@ PARAM_DEFINE_INT32(CAL_ACC3_PRIO, -1);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params_gyro0.c
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Expand Up @@ -104,10 +104,9 @@ PARAM_DEFINE_INT32(CAL_GYRO0_PRIO, -1);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params_gyro1.c
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Expand Up @@ -104,10 +104,9 @@ PARAM_DEFINE_INT32(CAL_GYRO1_PRIO, -1);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params_gyro2.c
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Expand Up @@ -104,10 +104,9 @@ PARAM_DEFINE_INT32(CAL_GYRO2_PRIO, -1);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params_gyro3.c
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Expand Up @@ -104,10 +104,9 @@ PARAM_DEFINE_INT32(CAL_GYRO3_PRIO, -1);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params_mag0.c
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Expand Up @@ -104,10 +104,9 @@ PARAM_DEFINE_INT32(CAL_MAG0_PRIO, -1);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params_mag1.c
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Expand Up @@ -104,10 +104,9 @@ PARAM_DEFINE_INT32(CAL_MAG1_PRIO, -1);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params_mag2.c
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Expand Up @@ -104,10 +104,9 @@ PARAM_DEFINE_INT32(CAL_MAG2_PRIO, -1);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
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3 changes: 1 addition & 2 deletions src/modules/sensors/sensor_params_mag3.c
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Expand Up @@ -104,10 +104,9 @@ PARAM_DEFINE_INT32(CAL_MAG3_PRIO, -1);
* @value 38 Roll 90°, Pitch 68°, Yaw 293°
* @value 39 Pitch 315°
* @value 40 Roll 90°, Pitch 315°
* @value 41 Roll 270°, Yaw 180°
*
* @min -1
* @max 41
* @max 40
* @reboot_required true
* @category system
* @group Sensor Calibration
Expand Down