WIP: Support in-flight fine tuning of board alignment. Implemented by applying a user supplied rotation matrix via new SENS_BOARD_(PITCH, ROLL, YAW)_OFF params in the sensors app. Currently only tested in QGC.

1 files changed, 24 insertions, 0 deletions

diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 999cf8bb3..c90633822 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -243,6 +243,30 @@ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
 PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
 
 /**
+ * Board rotation pitch offset
+ *
+ * This parameter defines a pitch offset from the board rotation. It allows the user
+ * to fine tune the board offset in the event of misalignment.
+ */
+ PARAM_DEFINE_FLOAT(SENS_BOARD_PITCH_OFF, 0);
+
+/**
+ * Board rotation roll offset
+ *
+ * This parameter defines a pitch offset from the board rotation. It allows the user
+ * to fine tune the board offset in the event of misalignment.
+ */
+PARAM_DEFINE_FLOAT(SENS_BOARD_ROLL_OFF, 0);
+
+/**
+ * Board rotation YAW offset
+ *
+ * This parameter defines a pitch offset from the board rotation. It allows the user
+ * to fine tune the board offset in the event of misalignment.
+ */
+PARAM_DEFINE_FLOAT(SENS_BOARD_YAW_OFF, 0);
+
+/**
  * External magnetometer rotation
  *
  * This parameter defines the rotation of the external magnetometer relative