diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 93 |
1 files changed, 1 insertions, 92 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 3fcacaf8f..1b79de8fd 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -67,6 +67,7 @@ #include <systemlib/param/param.h> #include <systemlib/err.h> #include <systemlib/perf_counter.h> +#include <conversion/rotation.h> #include <systemlib/airspeed.h> @@ -136,75 +137,6 @@ #define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg) /** - * 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 } -}; - -/** * Sensor app start / stop handling function * * @ingroup apps @@ -385,11 +317,6 @@ private: int parameters_update(); /** - * Get the rotation matrices - */ - void get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix); - - /** * Do accel-related initialisation. */ void accel_init(); @@ -804,24 +731,6 @@ Sensors::parameters_update() } void -Sensors::get_rot_matrix(enum Rotation rot, math::Matrix *rot_matrix) -{ - /* first set to zero */ - rot_matrix->Matrix::zero(3, 3); - - float roll = M_DEG_TO_RAD_F * (float)rot_lookup[rot].roll; - float pitch = M_DEG_TO_RAD_F * (float)rot_lookup[rot].pitch; - float yaw = M_DEG_TO_RAD_F * (float)rot_lookup[rot].yaw; - - math::EulerAngles euler(roll, pitch, yaw); - - math::Dcm R(euler); - - for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) - (*rot_matrix)(i, j) = R(i, j); -} - -void Sensors::accel_init() { int fd; |