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rotations: sync rotation enum, SENS_BOARD_ROT, CAL_MAGx_ROT with MAV_SENSOR_ORIENTATION

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This commit is contained in:
Daniel Agar
2020-09-21 17:38:56 -04:00
parent 8b26b84fd1
commit 00e955cc3e
9 changed files with 25 additions and 89 deletions
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src/lib/conversion/RotationTest.cpp
-13
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@@ -97,25 +97,12 @@ TEST(Rotations, duplicates)
if (j == ROTATION_ROLL_180_YAW_90 && i == ROTATION_PITCH_180_YAW_270) { continue; }
// ROTATION_ROLL_180_PITCH_90 (29) = ROTATION_PITCH_90_YAW_180 (43)
if (i == ROTATION_ROLL_180_PITCH_90 && j == ROTATION_PITCH_90_YAW_180) { continue; }
if (j == ROTATION_ROLL_180_PITCH_90 && i == ROTATION_PITCH_90_YAW_180) { continue; }
// ROTATION_ROLL_90_PITCH_180 (31) = ROTATION_ROLL_270_YAW_180 (41)
if (i == ROTATION_ROLL_90_PITCH_180 && j == ROTATION_ROLL_270_YAW_180) { continue; }
if (j == ROTATION_ROLL_90_PITCH_180 && i == ROTATION_ROLL_270_YAW_180) { continue; }
// ROTATION_ROLL_90_PITCH_180_YAW_90 (36) = ROTATION_ROLL_270_YAW_270 (42)
if (i == ROTATION_ROLL_90_PITCH_180_YAW_90 && j == ROTATION_ROLL_270_YAW_270) { continue; }
if (j == ROTATION_ROLL_90_PITCH_180_YAW_90 && i == ROTATION_ROLL_270_YAW_270) { continue; }
// otherwise all rotations should be different
ASSERT_GT((transformed_1 - transformed_2).norm(), 0) << "Rotation " << i << " and " << j << " equal";
}