From 7f4137569bf317f40195c29284241fa9cfd97cb8 Mon Sep 17 00:00:00 2001 From: "rmackay9@yahoo.com" Date: Sat, 30 Oct 2010 05:25:48 +0000 Subject: [PATCH] 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 --- libraries/APM_Compass/APM_Compass.h | 35 ++++++++++++++++++++++------- 1 file changed, 27 insertions(+), 8 deletions(-) diff --git a/libraries/APM_Compass/APM_Compass.h b/libraries/APM_Compass/APM_Compass.h index 525abe3a51..da91e388aa 100644 --- a/libraries/APM_Compass/APM_Compass.h +++ b/libraries/APM_Compass/APM_Compass.h @@ -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 {