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Diffstat (limited to 'src/lib/conversion/rotation.h')
| -rw-r--r-- | src/lib/conversion/rotation.h | 121 |
1 files changed, 121 insertions, 0 deletions
diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h new file mode 100644 index 000000000..85c63c0fc --- /dev/null +++ b/src/lib/conversion/rotation.h @@ -0,0 +1,121 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file rotation.h + * + * Vector rotation library + */ + +#ifndef ROTATION_H_ +#define ROTATION_H_ + +#include <unistd.h> +#include <mathlib/mathlib.h> + +/** + * Enum for board and external compass rotations. + * This enum maps from board attitude to airframe attitude. + */ +enum Rotation { + ROTATION_NONE = 0, + ROTATION_YAW_45 = 1, + ROTATION_YAW_90 = 2, + ROTATION_YAW_135 = 3, + ROTATION_YAW_180 = 4, + ROTATION_YAW_225 = 5, + ROTATION_YAW_270 = 6, + ROTATION_YAW_315 = 7, + ROTATION_ROLL_180 = 8, + ROTATION_ROLL_180_YAW_45 = 9, + ROTATION_ROLL_180_YAW_90 = 10, + ROTATION_ROLL_180_YAW_135 = 11, + ROTATION_PITCH_180 = 12, + ROTATION_ROLL_180_YAW_225 = 13, + ROTATION_ROLL_180_YAW_270 = 14, + ROTATION_ROLL_180_YAW_315 = 15, + ROTATION_ROLL_90 = 16, + ROTATION_ROLL_90_YAW_45 = 17, + ROTATION_ROLL_90_YAW_90 = 18, + ROTATION_ROLL_90_YAW_135 = 19, + ROTATION_ROLL_270 = 20, + ROTATION_ROLL_270_YAW_45 = 21, + ROTATION_ROLL_270_YAW_90 = 22, + ROTATION_ROLL_270_YAW_135 = 23, + ROTATION_PITCH_90 = 24, + ROTATION_PITCH_270 = 25, + ROTATION_MAX +}; + +typedef struct { + uint16_t roll; + uint16_t pitch; + uint16_t yaw; +} rot_lookup_t; + +const rot_lookup_t rot_lookup[] = { + { 0, 0, 0 }, + { 0, 0, 45 }, + { 0, 0, 90 }, + { 0, 0, 135 }, + { 0, 0, 180 }, + { 0, 0, 225 }, + { 0, 0, 270 }, + { 0, 0, 315 }, + {180, 0, 0 }, + {180, 0, 45 }, + {180, 0, 90 }, + {180, 0, 135 }, + { 0, 180, 0 }, + {180, 0, 225 }, + {180, 0, 270 }, + {180, 0, 315 }, + { 90, 0, 0 }, + { 90, 0, 45 }, + { 90, 0, 90 }, + { 90, 0, 135 }, + {270, 0, 0 }, + {270, 0, 45 }, + {270, 0, 90 }, + {270, 0, 135 }, + { 0, 90, 0 }, + { 0, 270, 0 } +}; + +/** + * Get the rotation matrix + */ +__EXPORT void +get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix); + +#endif /* ROTATION_H_ */ |