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| author | Ban Siesta <bansiesta@gmail.com> | 2015-03-29 20:17:09 +0100 |
|---|---|---|
| committer | Ban Siesta <bansiesta@gmail.com> | 2015-03-29 20:17:09 +0100 |
| commit | 2d19726ee781793d18a4dab4e003d5a24abaf2c3 (patch) | |
| tree | 3505d685e1c0801940e952eb5b2e99000d699b77 | |
| parent | 17ee20a338a05a9d46c4aa8a4c193c0b0810b3b1 (diff) | |
| download | px4-firmware-2d19726ee781793d18a4dab4e003d5a24abaf2c3.tar.gz px4-firmware-2d19726ee781793d18a4dab4e003d5a24abaf2c3.tar.bz2 px4-firmware-2d19726ee781793d18a4dab4e003d5a24abaf2c3.zip | |
rotation: added another missing rotation
| -rw-r--r-- | src/lib/conversion/rotation.cpp | 5 | ||||
| -rw-r--r-- | src/lib/conversion/rotation.h | 4 |
2 files changed, 8 insertions, 1 deletions
diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp index 1fe36d395..7418ba4ef 100644 --- a/src/lib/conversion/rotation.cpp +++ b/src/lib/conversion/rotation.cpp @@ -194,5 +194,10 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z) tmp = z; z = x; x = -tmp; return; } + case ROTATION_ROLL_180_PITCH_270: { + tmp = z; z = x; x = tmp; + y = -y; + return; + } } } diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h index 13fe701df..ef0f41c3a 100644 --- a/src/lib/conversion/rotation.h +++ b/src/lib/conversion/rotation.h @@ -75,6 +75,7 @@ enum Rotation { ROTATION_PITCH_90 = 24, ROTATION_PITCH_270 = 25, ROTATION_ROLL_270_YAW_270 = 26, + ROTATION_ROLL_180_PITCH_270 = 27, ROTATION_MAX }; @@ -111,7 +112,8 @@ const rot_lookup_t rot_lookup[] = { {270, 0, 135 }, { 0, 90, 0 }, { 0, 270, 0 }, - {270, 0, 270 } + {270, 0, 270 }, + {180, 270, 0 } }; /** |