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Added orientations for Sparkfun magnetometer. 

Also corrected some typos in the orientations for the DIYDrones mag.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@751 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
rmackay9@yahoo.com 2010-10-30 05:25:48 +00:00
parent b853247c08
commit 7f4137569b
1 changed files with 27 additions and 8 deletions
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35
libraries/APM_Compass/APM_Compass.h
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@ -21,22 +21,41 @@
#define ROTATION_ROLL_180_YAW_270 Matrix3f(0, -1, 0, -1, 0, 0, 0, 0, -1)
#define ROTATION_ROLL_180_YAW_315 Matrix3f(0.70710678, -0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, -1)
// orientations for DIYDrones magnetometer
#define APM_COMPASS_COMPONENTS_UP_PINS_FORWARD ROTATION_NONE
#define APM_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_45
#define APM_COMPASS_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_45
#define APM_COMPASS_COMPONENTS_UP_PINS_RIGHT ROTATION_YAW_90
#define APM_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_135
#define APM_COMPASS_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_135
#define APM_COMPASS_COMPONENTS_UP_PINS_BACK ROTATION_YAW_180
#define APM_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_225
#define APM_COMPASS_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_225
#define APM_COMPASS_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_270
#define APM_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_315
#define APM_COMPASS_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_315
#define APM_COMPASS_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180
#define APM_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_45
#define APM_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_45
#define APM_COMPASS_COMPONENTS_DOWN_PINS_RIGHT ROTATION_ROLL_180_YAW_90
#define APM_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_135
#define APM_COMPASS_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_135
#define APM_COMPASS_COMPONENTS_DOWN_PINS_BACK ROTATION_PITCH_180
#define APM_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_225
#define APM_COMPASS_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_225
#define APM_COMPASS_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180_YAW_270
#define APM_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_315
#define APM_COMPASS_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_315
// orientations for Sparkfun magnetometer
#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD ROTATION_YAW_270
#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_RIGHT ROTATION_YAW_315
#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_RIGHT ROTATION_NONE
#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_RIGHT ROTATION_YAW_45
#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK ROTATION_YAW_90
#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_BACK_LEFT ROTATION_YAW_135
#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_LEFT ROTATION_YAW_180
#define APM_COMPASS_SPARKFUN_COMPONENTS_UP_PINS_FORWARD_LEFT ROTATION_YAW_225
#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD ROTATION_ROLL_180_YAW_90
#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_RIGHT ROTATION_ROLL_180_YAW_135
#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_RIGHT ROTATION_PITCH_180
#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_RIGHT ROTATION_ROLL_180_YAW_225
#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK ROTATION_ROLL_180_YAW_270
#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_BACK_LEFT ROTATION_ROLL_180_YAW_315
#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_LEFT ROTATION_ROLL_180
#define APM_COMPASS_SPARKFUN_COMPONENTS_DOWN_PINS_FORWARD_LEFT ROTATION_ROLL_180_YAW_45
class APM_Compass_Class
{