rotations: sync rotation enum, SENS_BOARD_ROT, CAL_MAGx_ROT with MAV_SENSOR_ORIENTATION

src/lib/conversion/RotationTest.cpp

@@ -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";
 			}

src/lib/conversion/rotation.cpp

@@ -245,23 +245,6 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
 			return;
 		}
 
-	case ROTATION_PITCH_9_YAW_180: {
-			const float tmpx = x;
-			const float tmpy = y;
-			const float tmpz = z;
-			x = -0.987688f * tmpx +  0.000000f * tmpy + -0.156434f * tmpz;
-			y =  0.000000f * tmpx + -1.000000f * tmpy +  0.000000f * tmpz;
-			z = -0.156434f * tmpx +  0.000000f * tmpy +  0.987688f * tmpz;
-			return;
-		}
-
-	case ROTATION_PITCH_45: {
-			tmp = M_SQRT1_2_F * x + M_SQRT1_2_F * z;
-			z = M_SQRT1_2_F * z - M_SQRT1_2_F * x;
-			x = tmp;
-			return;
-		}
-
 	case ROTATION_PITCH_315: {
 			tmp = M_SQRT1_2_F * x - M_SQRT1_2_F * z;
 			z = M_SQRT1_2_F * z + M_SQRT1_2_F * x;
@@ -285,10 +268,7 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
 			return;
 		}
 
-	case ROTATION_ROLL_180_PITCH_90:
+	case ROTATION_ROLL_180_PITCH_90: {
-
-	// FALLTHROUGH
-	case ROTATION_PITCH_90_YAW_180: {
 			tmp = x;
 			x = -z;
 			y = -y;
@@ -339,10 +319,7 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
 			return;
 		}
 
-	case ROTATION_ROLL_90_PITCH_180_YAW_90:
+	case ROTATION_ROLL_90_PITCH_180_YAW_90: {
-
-	// FALLTHROUGH
-	case ROTATION_ROLL_270_YAW_270: {
 			tmp = x;
 			x = z;
 			z = -y;

src/lib/conversion/rotation.h

@@ -91,10 +91,7 @@ enum Rotation {
 	ROTATION_PITCH_315           = 39,
 	ROTATION_ROLL_90_PITCH_315   = 40,
 	ROTATION_ROLL_270_YAW_180    = 41,
-	ROTATION_ROLL_270_YAW_270    = 42,
+
-	ROTATION_PITCH_90_YAW_180    = 43,
-	ROTATION_PITCH_9_YAW_180     = 44,
-	ROTATION_PITCH_45            = 45,
 	ROTATION_MAX
 };
 
@@ -147,10 +144,6 @@ const rot_lookup_t rot_lookup[] = {
 	{  0, 315,   0 },
 	{ 90, 315,   0 },
 	{270,   0, 180 },
-	{270,   0, 270 },
-	{  0,  90, 180 },
-	{  0,   9, 180 },
-	{  0,  45,   0 },
 };
 
 /**

src/modules/commander/mag_calibration.cpp

@@ -739,15 +739,6 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
 
 							// FALLTHROUGH
 							case ROTATION_ROLL_270_YAW_180:  // skip 41, same as 31 ROTATION_ROLL_90_PITCH_180
-
-							// FALLTHROUGH
-							case ROTATION_ROLL_270_YAW_270:  // skip 42, same as 36 ROTATION_ROLL_90_PITCH_180_YAW_90
-
-							// FALLTHROUGH
-							case ROTATION_PITCH_90_YAW_180:  // skip 43, same as 29 ROTATION_ROLL_180_PITCH_90
-
-							// FALLTHROUGH
-							case ROTATION_PITCH_9_YAW_180: // skip, too close to ROTATION_YAW_180
 								MSE[r] = FLT_MAX;
 								break;
 
@@ -804,9 +795,6 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
 
 							switch (worker_data.calibration[cur_mag].rotation_enum()) {
 							case ROTATION_ROLL_90_PITCH_68_YAW_293:
-
-							// FALLTHROUGH
-							case ROTATION_PITCH_9_YAW_180:
 								PX4_INFO("[cal] External Mag: %d (%d), keeping manually configured rotation %d", cur_mag,
 									 worker_data.calibration[cur_mag].device_id(), worker_data.calibration[cur_mag].rotation_enum());
 								continue;

src/modules/sensors/sensor_params.c

@@ -131,19 +131,26 @@ PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
  * @value 23 Roll 270°, Yaw 135°
  * @value 24 Pitch 90°
  * @value 25 Pitch 270°
- * @value 26 Roll 270°, Yaw 270°
+ * @value 26 Pitch 180°, Yaw 90°
- * @value 27 Roll 180°, Pitch 270°
+ * @value 27 Pitch 180°, Yaw 270°
- * @value 28 Pitch 90°, Yaw 180
+ * @value 28 Roll 90°, Pitch 90°
- * @value 29 Pitch 90°, Roll 90°
+ * @value 29 Roll 180°, Pitch 90°
- * @value 30 Yaw 293°, Pitch 68°, Roll 90° (Solo)
+ * @value 30 Roll 270°, Pitch 90°
- * @value 31 Pitch 90°, Roll 270°
+ * @value 31 Roll 90°, Pitch 180°
- * @value 32 Pitch 9°, Yaw 180°
+ * @value 32 Roll 270°, Pitch 180°
- * @value 33 Pitch 45°
+ * @value 33 Roll 90°, Pitch 270°
- * @value 34 Pitch 315°
+ * @value 34 Roll 180°, Pitch 270°
- * @value 35 Roll 90°, Yaw 270°
+ * @value 35 Roll 270°, Pitch 270°
+ * @value 36 Roll 90°, Pitch 180°, Yaw 90°
+ * @value 37 Roll 90°, Yaw 270°
+ * @value 38 Roll 90°, Pitch 68°, Yaw 293°
+ * @value 39 Pitch 315°
+ * @value 40 Roll 90°, Pitch 315°
+ * @value 41 Roll 270°, Yaw 180°
  *
+ * @min -1
+ * @max 41
  * @reboot_required true
- *
  * @group Sensors
  */
 PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);

src/modules/sensors/sensor_params_mag0.c

@@ -105,13 +105,9 @@ PARAM_DEFINE_INT32(CAL_MAG0_PRIO, -1);
  * @value 39 Pitch 315°
  * @value 40 Roll 90°, Pitch 315°
  * @value 41 Roll 270°, Yaw 180°
- * @value 42 Roll 270°, Yaw 270°
- * @value 43 Pitch 90°, Yaw 180°
- * @value 44 Pitch 9°, Yaw 180°
- * @value 45 Pitch 45°
  *
  * @min -1
- * @max 45
+ * @max 41
  * @reboot_required true
  * @category system
  * @group Sensor Calibration

src/modules/sensors/sensor_params_mag1.c

@@ -105,13 +105,9 @@ PARAM_DEFINE_INT32(CAL_MAG1_PRIO, -1);
  * @value 39 Pitch 315°
  * @value 40 Roll 90°, Pitch 315°
  * @value 41 Roll 270°, Yaw 180°
- * @value 42 Roll 270°, Yaw 270°
- * @value 43 Pitch 90°, Yaw 180°
- * @value 44 Pitch 9°, Yaw 180°
- * @value 45 Pitch 45°
  *
  * @min -1
- * @max 45
+ * @max 41
  * @reboot_required true
  * @category system
  * @group Sensor Calibration

src/modules/sensors/sensor_params_mag2.c

@@ -105,13 +105,9 @@ PARAM_DEFINE_INT32(CAL_MAG2_PRIO, -1);
  * @value 39 Pitch 315°
  * @value 40 Roll 90°, Pitch 315°
  * @value 41 Roll 270°, Yaw 180°
- * @value 42 Roll 270°, Yaw 270°
- * @value 43 Pitch 90°, Yaw 180°
- * @value 44 Pitch 9°, Yaw 180°
- * @value 45 Pitch 45°
  *
  * @min -1
- * @max 45
+ * @max 41
  * @reboot_required true
  * @category system
  * @group Sensor Calibration

src/modules/sensors/sensor_params_mag3.c

@@ -105,13 +105,9 @@ PARAM_DEFINE_INT32(CAL_MAG3_PRIO, -1);
  * @value 39 Pitch 315°
  * @value 40 Roll 90°, Pitch 315°
  * @value 41 Roll 270°, Yaw 180°
- * @value 42 Roll 270°, Yaw 270°
- * @value 43 Pitch 90°, Yaw 180°
- * @value 44 Pitch 9°, Yaw 180°
- * @value 45 Pitch 45°
  *
  * @min -1
- * @max 45
+ * @max 41
  * @reboot_required true
  * @category system
  * @group Sensor Calibration