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AP_AHRS: remove custom rotations

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Iampete1 2021-11-05 16:08:26 +00:00 committed by Andrew Tridgell
parent 72a65cadb8
commit 1cc2e082e0
3 changed files with 6 additions and 20 deletions
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8
libraries/AP_AHRS/AP_AHRS.cpp
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@ -115,7 +115,7 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] = {
// @Param: ORIENTATION
// @DisplayName: Board Orientation
// @Description: Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle.
// @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
// @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
// @User: Advanced
AP_GROUPINFO("ORIENTATION", 9, AP_AHRS, _board_orientation, 0),
@ -154,7 +154,7 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] = {
// @Units: deg
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("CUSTOM_ROLL", 15, AP_AHRS, _custom_roll, 0),
// index 15
// @Param: CUSTOM_PIT
// @DisplayName: Board orientation pitch offset
@ -163,7 +163,7 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] = {
// @Units: deg
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("CUSTOM_PIT", 16, AP_AHRS, _custom_pitch, 0),
// index 16
// @Param: CUSTOM_YAW
// @DisplayName: Board orientation yaw offset
@ -172,7 +172,7 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] = {
// @Units: deg
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("CUSTOM_YAW", 17, AP_AHRS, _custom_yaw, 0),
// index 17
AP_GROUPEND
};

8
libraries/AP_AHRS/AP_AHRS.h
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@ -637,14 +637,6 @@ private:
AP_Int8 _wind_max;
AP_Int8 _board_orientation;
AP_Int8 _ekf_type;
AP_Float _custom_roll;
AP_Float _custom_pitch;
AP_Float _custom_yaw;
/*
* support for custom AHRS orientation, replacing _board_orientation
*/
Matrix3f _custom_rotation;
/*
* DCM-backend parameters; it takes references to these

10
libraries/AP_AHRS/AP_AHRS_Backend.cpp
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@ -70,14 +70,8 @@ void AP_AHRS::add_trim(float roll_in_radians, float pitch_in_radians, bool save_
void AP_AHRS::update_orientation()
{
const enum Rotation orientation = (enum Rotation)_board_orientation.get();
if (orientation != ROTATION_CUSTOM) {
AP::ins().set_board_orientation(orientation);
AP::compass().set_board_orientation(orientation);
} else {
_custom_rotation.from_euler(radians(_custom_roll), radians(_custom_pitch), radians(_custom_yaw));
AP::ins().set_board_orientation(orientation, &_custom_rotation);
AP::compass().set_board_orientation(orientation, &_custom_rotation);
}
AP::ins().set_board_orientation(orientation);
AP::compass().set_board_orientation(orientation);
}
// return a ground speed estimate in m/s