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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/sensors/module.yaml
+42 -1
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@@ -360,6 +360,7 @@ parameters:
short: Magnetometer ${i} rotation relative to airframe
long: |
An internal sensor will force a value of -1, so a GCS should only attempt to configure the rotation if the value is greater than or equal to zero.
Set to "Custom Euler Angle" to define the rotation using CAL_MAG${i}_ROLL, CAL_MAG${i}_PITCH and CAL_MAG${i}_YAW.
category: System
type: enum
values:
@@ -405,12 +406,52 @@ parameters:
38: Roll 90°, Pitch 68°, Yaw 293°
39: Pitch 315°
40: Roll 90°, Pitch 315°
100: Custom Euler Angle
min: -1
max: 40
max: 100
default: -1
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_ROLL:
description:
short: Magnetometer ${i} Custom Euler Roll Angle
long: Setting this parameter changes CAL_MAG${i}_ROT to "Custom Euler Angle"
category: System
type: float
default: 0.0
min: -180
max: 180
unit: deg
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_PITCH:
description:
short: Magnetometer ${i} Custom Euler Pitch Angle
long: Setting this parameter changes CAL_MAG${i}_ROT to "Custom Euler Angle"
category: System
type: float
default: 0.0
min: -180
max: 180
unit: deg
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_YAW:
description:
short: Magnetometer ${i} Custom Euler Yaw Angle
long: Setting this parameter changes CAL_MAG${i}_ROT to "Custom Euler Angle"
category: System
type: float
default: 0.0
min: -180
max: 180
unit: deg
num_instances: *max_num_sensor_instances
instance_start: 0
CAL_MAG${i}_XOFF:
description:
short: Magnetometer ${i} X-axis offset