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WIP: Support in-flight fine tuning of board alignment. Implemented by applying a user supplied rotation matrix via new SENS_BOARD_(PITCH, ROLL, YAW)_OFF params in the sensors app. Currently only tested in QGC.

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Darryl Taylor
2014-06-18 20:27:35 +08:00
parent 0f41d8b507
commit 90a89ff2cd
2 changed files with 47 additions and 3 deletions
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src/modules/sensors/sensor_params.c
+24
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@@ -242,6 +242,30 @@ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0);
*/
PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0);
/**
* Board rotation pitch offset
*
* This parameter defines a pitch offset from the board rotation. It allows the user
* to fine tune the board offset in the event of misalignment.
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_PITCH_OFF, 0);
/**
* Board rotation roll offset
*
* This parameter defines a pitch offset from the board rotation. It allows the user
* to fine tune the board offset in the event of misalignment.
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_ROLL_OFF, 0);
/**
* Board rotation YAW offset
*
* This parameter defines a pitch offset from the board rotation. It allows the user
* to fine tune the board offset in the event of misalignment.
*/
PARAM_DEFINE_FLOAT(SENS_BOARD_YAW_OFF, 0);
/**
* External magnetometer rotation
*