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mavlink: add static asserts to keep MAV_SENSOR_ROTATION in sync with PX4 ROTATION

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Daniel Agar
2020-09-22 11:10:31 -04:00
parent 00e955cc3e
commit d5295ef4e1
2 changed files with 48 additions and 0 deletions
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src/modules/mavlink/CMakeLists.txt
+1
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@@ -39,6 +39,7 @@ px4_add_module(
COMPILE_FLAGS COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable -Wno-cast-align # TODO: fix and enable
-Wno-address-of-packed-member # TODO: fix in c_library_v2 -Wno-address-of-packed-member # TODO: fix in c_library_v2
-Wno-enum-compare # ROTATION <-> MAV_SENSOR_ROTATION
#-DDEBUG_BUILD #-DDEBUG_BUILD
INCLUDES INCLUDES
${PX4_SOURCE_DIR}/mavlink/include/mavlink ${PX4_SOURCE_DIR}/mavlink/include/mavlink
src/modules/mavlink/mavlink_messages.cpp
+47
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@@ -123,6 +123,53 @@
using matrix::Vector3f; using matrix::Vector3f;
using matrix::wrap_2pi; using matrix::wrap_2pi;
// ensure PX4 rotation enum and MAV_SENSOR_ROTATION align
static_assert(MAV_SENSOR_ROTATION_NONE == ROTATION_NONE, "Roll: 0, Pitch: 0, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_YAW_45 == ROTATION_YAW_45, "Roll: 0, Pitch: 0, Yaw: 45");
static_assert(MAV_SENSOR_ROTATION_YAW_90 == ROTATION_YAW_90, "Roll: 0, Pitch: 0, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_YAW_135 == ROTATION_YAW_135, "Roll: 0, Pitch: 0, Yaw: 135");
static_assert(MAV_SENSOR_ROTATION_YAW_180 == ROTATION_YAW_180, "Roll: 0, Pitch: 0, Yaw: 180");
static_assert(MAV_SENSOR_ROTATION_YAW_225 == ROTATION_YAW_225, "Roll: 0, Pitch: 0, Yaw: 225");
static_assert(MAV_SENSOR_ROTATION_YAW_270 == ROTATION_YAW_270, "Roll: 0, Pitch: 0, Yaw: 270");
static_assert(MAV_SENSOR_ROTATION_YAW_315 == ROTATION_YAW_315, "Roll: 0, Pitch: 0, Yaw: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_180 == ROTATION_ROLL_180, "Roll: 180, Pitch: 0, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_45 == ROTATION_ROLL_180_YAW_45, "Roll: 180, Pitch: 0, Yaw: 45");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_90 == ROTATION_ROLL_180_YAW_90, "Roll: 180, Pitch: 0, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_135 == ROTATION_ROLL_180_YAW_135, "Roll: 180, Pitch: 0, Yaw: 135");
static_assert(MAV_SENSOR_ROTATION_PITCH_180 == ROTATION_PITCH_180, "Roll: 0, Pitch: 180, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_225 == ROTATION_ROLL_180_YAW_225, "Roll: 180, Pitch: 0, Yaw: 225");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_270 == ROTATION_ROLL_180_YAW_270, "Roll: 180, Pitch: 0, Yaw: 270");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_315 == ROTATION_ROLL_180_YAW_315, "Roll: 180, Pitch: 0, Yaw: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_90 == ROTATION_ROLL_90, "Roll: 90, Pitch: 0, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_45 == ROTATION_ROLL_90_YAW_45, "Roll: 90, Pitch: 0, Yaw: 45");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_90 == ROTATION_ROLL_90_YAW_90, "Roll: 90, Pitch: 0, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_135 == ROTATION_ROLL_90_YAW_135, "Roll: 90, Pitch: 0, Yaw: 135");
static_assert(MAV_SENSOR_ROTATION_ROLL_270 == ROTATION_ROLL_270, "Roll: 270, Pitch: 0, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_45 == ROTATION_ROLL_270_YAW_45, "Roll: 270, Pitch: 0, Yaw: 45");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_90 == ROTATION_ROLL_270_YAW_90, "Roll: 270, Pitch: 0, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_135 == ROTATION_ROLL_270_YAW_135, "Roll: 270, Pitch: 0, Yaw: 135");
static_assert(MAV_SENSOR_ROTATION_PITCH_90 == ROTATION_PITCH_90, "Roll: 0, Pitch: 90, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_PITCH_270 == ROTATION_PITCH_270, "Roll: 0, Pitch: 270, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_PITCH_180_YAW_90 == ROTATION_PITCH_180_YAW_90, "Roll: 0, Pitch: 180, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_PITCH_180_YAW_270 == ROTATION_PITCH_180_YAW_270, "Roll: 0, Pitch: 180, Yaw: 270");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_90 == ROTATION_ROLL_90_PITCH_90, "Roll: 90, Pitch: 90, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_PITCH_90 == ROTATION_ROLL_180_PITCH_90, "Roll: 180, Pitch: 90, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_90 == ROTATION_ROLL_270_PITCH_90, "Roll: 270, Pitch: 90, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_180 == ROTATION_ROLL_90_PITCH_180, "Roll: 90, Pitch: 180, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_180 == ROTATION_ROLL_270_PITCH_180, "Roll: 270, Pitch: 180, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_270 == ROTATION_ROLL_90_PITCH_270, "Roll: 90, Pitch: 270, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_180_PITCH_270 == ROTATION_ROLL_180_PITCH_270, "Roll: 180, Pitch: 270, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_270 == ROTATION_ROLL_270_PITCH_270, "Roll: 270, Pitch: 270, Yaw: 0");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90 == ROTATION_ROLL_90_PITCH_180_YAW_90,
"Roll: 90, Pitch: 180, Yaw: 90");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_270 == ROTATION_ROLL_90_YAW_270, "Roll: 90, Pitch: 0, Yaw: 270");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293 == ROTATION_ROLL_90_PITCH_68_YAW_293,
"Roll: 90, Pitch: 68, Yaw: 293");
static_assert(MAV_SENSOR_ROTATION_PITCH_315 == ROTATION_PITCH_315, "Pitch: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_315 == ROTATION_ROLL_90_PITCH_315, "Roll: 90, Pitch: 315");
static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_180 == ROTATION_ROLL_270_YAW_180, "Roll: 270, Yaw: 180");
static_assert(42 == ROTATION_MAX, "Keep MAV_SENSOR_ROTATION and PX4 Rotation in sync");
static uint16_t cm_uint16_from_m_float(float m) static uint16_t cm_uint16_from_m_float(float m)
{ {
if (m < 0.0f) { if (m < 0.0f) {