sensor calibration: apply board level adjustment to external sensors (#16127)

- apply SENS_BOARD_{X,Y,Z}_OFF to external sensors to prevent unnecessary misalignment with internal IMU

src/lib/sensor_calibration/Utilities.cpp

@@ -34,6 +34,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/log.h>
 #include <lib/conversion/rotation.h>
+#include <lib/mathlib/mathlib.h>
 #include <lib/parameters/param.h>
 
 using math::radians;
@@ -146,7 +147,7 @@ bool SetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type,
 	return ret == PX4_OK;
 }
 
-Dcmf GetBoardRotation()
+Eulerf GetSensorLevelAdjustment()
 {
 	float x_offset = 0.f;
 	float y_offset = 0.f;
@@ -155,13 +156,28 @@ Dcmf GetBoardRotation()
 	param_get(param_find("SENS_BOARD_Y_OFF"), &y_offset);
 	param_get(param_find("SENS_BOARD_Z_OFF"), &z_offset);
 
-	const Dcmf board_rotation_offset(Eulerf(radians(x_offset), radians(y_offset), radians(z_offset)));
+	return Eulerf{radians(x_offset), radians(y_offset), radians(z_offset)};
+}
 
+enum Rotation GetBoardRotation()
+{
 	// get transformation matrix from sensor/board to body frame
-	int32_t board_rot = 0;
+	int32_t board_rot = -1;
 	param_get(param_find("SENS_BOARD_ROT"), &board_rot);
 
-	return board_rotation_offset * get_rot_matrix((enum Rotation)board_rot);
+	if (board_rot >= 0 && board_rot <= Rotation::ROTATION_MAX) {
+		return static_cast<enum Rotation>(board_rot);
+
+	} else {
+		PX4_ERR("invalid SENS_BOARD_ROT: %d", board_rot);
+	}
+
+	return Rotation::ROTATION_NONE;
+}
+
+Dcmf GetBoardRotationMatrix()
+{
+	return get_rot_matrix(GetBoardRotation());
 }
 
 } // namespace calibration