From f97ac4af30f355a3c10e47f3da5615a7de131254 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Thu, 8 Mar 2018 21:17:29 -0500
Subject: [PATCH] AP_Math: add custom rotation option

---
 libraries/AP_Math/rotations.h | 5 +++--
 libraries/AP_Math/vector3.cpp | 2 ++
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Math/rotations.h b/libraries/AP_Math/rotations.h
index dad7abfe22..9d7662ceb8 100644
--- a/libraries/AP_Math/rotations.h
+++ b/libraries/AP_Math/rotations.h
@@ -66,11 +66,12 @@ enum Rotation : uint8_t {
     ROTATION_ROLL_90_PITCH_68_YAW_293 = 38,
     ROTATION_PITCH_315           = 39,
     ROTATION_ROLL_90_PITCH_315   = 40,
-    ROTATION_MAX
+    ROTATION_MAX,
+    ROTATION_CUSTOM              = 100,
 };
 /*
 Here are the same values in a form sutable for a @Values attribute in
 auto documentation:
 
-@Values: 0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw135,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180,39:Pitch315,40:Roll90Pitch315
+@Values: 0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw135,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180,39:Pitch315,40:Roll90Pitch315,100:Custom
  */
diff --git a/libraries/AP_Math/vector3.cpp b/libraries/AP_Math/vector3.cpp
index b541095ccc..d710dc18a8 100644
--- a/libraries/AP_Math/vector3.cpp
+++ b/libraries/AP_Math/vector3.cpp
@@ -244,6 +244,8 @@ void Vector3<T>::rotate(enum Rotation rotation)
         x = tmp;
         return;
     }
+    case ROTATION_CUSTOM: // no-op; caller should perform custom rotations via matrix multiplication
+        return;
     }
 }