mirror of https://github.com/ArduPilot/ardupilot
95 lines
4.4 KiB
C
95 lines
4.4 KiB
C
/*
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* rotations.h
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* Copyright (C) Andrew Tridgell 2012
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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// these rotations form a full set - every rotation in the following
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// list when combined with another in the list forms an entry which is
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// also in the list. This is an important property. Please run the
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// rotations test suite if you add to the list.
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// NOTE!! these rotation values are stored to EEPROM, so be careful not to
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// change the numbering of any existing entry when adding a new entry.
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enum Rotation : uint8_t {
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ROTATION_NONE = 0,
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ROTATION_YAW_45 = 1,
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ROTATION_YAW_90 = 2,
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ROTATION_YAW_135 = 3,
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ROTATION_YAW_180 = 4,
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ROTATION_YAW_225 = 5,
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ROTATION_YAW_270 = 6,
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ROTATION_YAW_315 = 7,
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ROTATION_ROLL_180 = 8,
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ROTATION_ROLL_180_YAW_45 = 9,
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ROTATION_ROLL_180_YAW_90 = 10,
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ROTATION_ROLL_180_YAW_135 = 11,
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ROTATION_PITCH_180 = 12,
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ROTATION_ROLL_180_YAW_225 = 13,
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ROTATION_ROLL_180_YAW_270 = 14,
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ROTATION_ROLL_180_YAW_315 = 15,
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ROTATION_ROLL_90 = 16,
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ROTATION_ROLL_90_YAW_45 = 17,
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ROTATION_ROLL_90_YAW_90 = 18,
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ROTATION_ROLL_90_YAW_135 = 19,
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ROTATION_ROLL_270 = 20,
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ROTATION_ROLL_270_YAW_45 = 21,
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ROTATION_ROLL_270_YAW_90 = 22,
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ROTATION_ROLL_270_YAW_135 = 23,
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ROTATION_PITCH_90 = 24,
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ROTATION_PITCH_270 = 25,
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ROTATION_PITCH_180_YAW_90 = 26, // same as ROTATION_ROLL_180_YAW_270
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ROTATION_PITCH_180_YAW_270 = 27, // same as ROTATION_ROLL_180_YAW_90
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ROTATION_ROLL_90_PITCH_90 = 28,
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ROTATION_ROLL_180_PITCH_90 = 29,
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ROTATION_ROLL_270_PITCH_90 = 30,
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ROTATION_ROLL_90_PITCH_180 = 31,
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ROTATION_ROLL_270_PITCH_180 = 32,
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ROTATION_ROLL_90_PITCH_270 = 33,
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ROTATION_ROLL_180_PITCH_270 = 34,
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ROTATION_ROLL_270_PITCH_270 = 35,
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ROTATION_ROLL_90_PITCH_180_YAW_90 = 36,
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ROTATION_ROLL_90_YAW_270 = 37,
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ROTATION_ROLL_90_PITCH_68_YAW_293 = 38, // this is actually, roll 90, pitch 68.8, yaw 293.3
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ROTATION_PITCH_315 = 39,
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ROTATION_ROLL_90_PITCH_315 = 40,
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ROTATION_PITCH_7 = 41,
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ROTATION_ROLL_45 = 42,
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ROTATION_ROLL_315 = 43,
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///////////////////////////////////////////////////////////////////////
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// Do not add more rotations without checking that there is not a conflict
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// with the MAVLink spec. MAV_SENSOR_ORIENTATION is expected to match our
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// list of rotations here. If a new rotation is added it needs to be added
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// to the MAVLink messages as well.
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///////////////////////////////////////////////////////////////////////
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ROTATION_MAX,
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ROTATION_CUSTOM_OLD = 100,
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ROTATION_CUSTOM_1 = 101,
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ROTATION_CUSTOM_2 = 102,
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ROTATION_CUSTOM_END,
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};
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// definitions used by quaterion and vector3f
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#define HALF_SQRT_2 0.70710678118654752440084436210485
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/*
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Here are the same values in a form suitable for a @Values attribute in
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auto documentation:
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@Values: 0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Yaw45Roll180,10:Yaw90Roll180,11:Yaw135Roll180,12:Pitch180,13:Yaw225Roll180,14:Yaw270Roll180,15:Yaw315Roll180,16:Roll90,17:Yaw45Roll90,18:Yaw90Roll90,19:Yaw135Roll90,20:Roll270,21:Yaw45Roll270,22:Yaw90Roll270,23:Yaw135Roll270,24:Pitch90,25:Pitch270,26:Yaw90Pitch180,27:Yaw270Pitch180,28:Pitch90Roll90,29:Pitch90Roll180,30:Pitch90Roll270,31:Pitch180Roll90,32:Pitch180Roll270,33:Pitch270Roll90,34:Pitch270Roll180,35:Pitch270Roll270,36:Yaw90Pitch180Roll90,37:Yaw270Roll90,38:Yaw293Pitch68Roll180,39:Pitch315,40:Pitch315Roll90,42:Roll45,43:Roll315,100:Custom 4.1 and older,101:Custom 1,102:Custom 2
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*/
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