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Enable arbitrary euler angle for Mag rotation CAL_MAGx_{ROLL,PITCH,YAW}

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- Enable arbitrary euler angle for Mag rotation
  - new CUSTOM rotation enum out of the normal enum range
 - mag_rot: automatically change to custom if euler rot is set
 - sensor_calibration: Magnetometer save custom rotation parameters
 - mag_cal: cross mention rotation parameters
  - This allows the user to see the RPY options when searching for the rotation parameter

---------

Co-authored-by: Junwoo Hwang <junwoo@auterion.com>
Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Mathieu Bresciani
2023-08-26 14:52:39 -04:00
committed by GitHub
co-authored by Junwoo Hwang bresch Daniel Agar
parent 9551c1b614
commit 6a58f6c7dc
6 changed files with 140 additions and 7 deletions
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src/modules/commander/mag_calibration.cpp
+9
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@@ -771,6 +771,10 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
// FALLTHROUGH
case ROTATION_PITCH_180_YAW_270: // skip 27, same as 10 ROTATION_ROLL_180_YAW_90
// FALLTHROUGH
case ROTATION_CUSTOM: // Skip, as we currently don't support detecting arbitrary euler angle orientation
MSE[r] = FLT_MAX;
break;
@@ -831,6 +835,11 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
worker_data.calibration[cur_mag].device_id(), worker_data.calibration[cur_mag].rotation_enum());
continue;
case ROTATION_CUSTOM:
PX4_INFO("[cal] External Mag: %d (%" PRIu32 "), not setting rotation enum since it's specified by Euler Angle",
cur_mag, worker_data.calibration[cur_mag].device_id());
continue; // Continue to the next mag loop
default:
break;
}