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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

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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/mavlink/mavlink_messages.cpp
+5
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@@ -228,8 +228,13 @@ static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293 == static_cast<MAV_SE
static_assert(MAV_SENSOR_ROTATION_PITCH_315 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_315), "Pitch: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_315 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_PITCH_315),
"Roll: 90, Pitch: 315");
// Note: Update the number (41, as of writing) below to the number of 'normal' rotation enums in MAVLink spec:
// https://mavlink.io/en/messages/common.html#MAV_SENSOR_ORIENTATION
static_assert(41 == ROTATION_MAX, "Keep MAV_SENSOR_ROTATION and PX4 Rotation in sync");
static_assert(MAV_SENSOR_ROTATION_CUSTOM == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_CUSTOM), "Custom Rotation");
static const StreamListItem streams_list[] = {
#if defined(HEARTBEAT_HPP)