mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-02 06:10:35 +08:00
Daniel Agar
e57aaaaa5e
- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
- to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
- fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
- in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
404 lines
8.4 KiB
C++
404 lines
8.4 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2013-2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file rotation.h
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*
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* Vector rotation library
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*/
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#pragma once
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#include <stdint.h>
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#include <mathlib/mathlib.h>
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#include <matrix/math.hpp>
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#include <px4_platform_common/defines.h>
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/**
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* Enum for board and external compass rotations.
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* This enum maps from board attitude to airframe attitude.
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*/
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enum Rotation : uint8_t {
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ROTATION_NONE = 0,
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ROTATION_YAW_45 = 1,
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ROTATION_YAW_90 = 2,
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ROTATION_YAW_135 = 3,
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ROTATION_YAW_180 = 4,
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ROTATION_YAW_225 = 5,
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ROTATION_YAW_270 = 6,
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ROTATION_YAW_315 = 7,
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ROTATION_ROLL_180 = 8,
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ROTATION_ROLL_180_YAW_45 = 9,
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ROTATION_ROLL_180_YAW_90 = 10,
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ROTATION_ROLL_180_YAW_135 = 11,
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ROTATION_PITCH_180 = 12,
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ROTATION_ROLL_180_YAW_225 = 13,
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ROTATION_ROLL_180_YAW_270 = 14,
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ROTATION_ROLL_180_YAW_315 = 15,
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ROTATION_ROLL_90 = 16,
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ROTATION_ROLL_90_YAW_45 = 17,
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ROTATION_ROLL_90_YAW_90 = 18,
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ROTATION_ROLL_90_YAW_135 = 19,
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ROTATION_ROLL_270 = 20,
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ROTATION_ROLL_270_YAW_45 = 21,
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ROTATION_ROLL_270_YAW_90 = 22,
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ROTATION_ROLL_270_YAW_135 = 23,
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ROTATION_PITCH_90 = 24,
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ROTATION_PITCH_270 = 25,
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ROTATION_PITCH_180_YAW_90 = 26,
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ROTATION_PITCH_180_YAW_270 = 27,
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ROTATION_ROLL_90_PITCH_90 = 28,
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ROTATION_ROLL_180_PITCH_90 = 29,
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ROTATION_ROLL_270_PITCH_90 = 30,
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ROTATION_ROLL_90_PITCH_180 = 31,
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ROTATION_ROLL_270_PITCH_180 = 32,
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ROTATION_ROLL_90_PITCH_270 = 33,
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ROTATION_ROLL_180_PITCH_270 = 34,
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ROTATION_ROLL_270_PITCH_270 = 35,
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ROTATION_ROLL_90_PITCH_180_YAW_90 = 36,
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ROTATION_ROLL_90_YAW_270 = 37,
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ROTATION_ROLL_90_PITCH_68_YAW_293 = 38,
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ROTATION_PITCH_315 = 39,
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ROTATION_ROLL_90_PITCH_315 = 40,
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ROTATION_MAX
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};
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struct rot_lookup_t {
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uint16_t roll;
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uint16_t pitch;
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uint16_t yaw;
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};
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static constexpr rot_lookup_t rot_lookup[ROTATION_MAX] = {
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{ 0, 0, 0 },
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{ 0, 0, 45 },
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{ 0, 0, 90 },
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{ 0, 0, 135 },
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{ 0, 0, 180 },
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{ 0, 0, 225 },
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{ 0, 0, 270 },
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{ 0, 0, 315 },
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{180, 0, 0 },
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{180, 0, 45 },
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{180, 0, 90 },
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{180, 0, 135 },
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{ 0, 180, 0 },
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{180, 0, 225 },
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{180, 0, 270 },
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{180, 0, 315 },
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{ 90, 0, 0 },
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{ 90, 0, 45 },
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{ 90, 0, 90 },
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{ 90, 0, 135 },
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{270, 0, 0 },
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{270, 0, 45 },
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{270, 0, 90 },
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{270, 0, 135 },
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{ 0, 90, 0 },
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{ 0, 270, 0 },
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{ 0, 180, 90 },
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{ 0, 180, 270 },
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{ 90, 90, 0 },
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{180, 90, 0 },
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{270, 90, 0 },
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{ 90, 180, 0 },
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{270, 180, 0 },
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{ 90, 270, 0 },
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{180, 270, 0 },
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{270, 270, 0 },
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{ 90, 180, 90 },
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{ 90, 0, 270 },
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{ 90, 68, 293 },
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{ 0, 315, 0 },
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{ 90, 315, 0 },
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};
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/**
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* Get the rotation matrix
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*/
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__EXPORT matrix::Dcmf get_rot_matrix(enum Rotation rot);
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/**
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* Get the rotation quaternion
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*/
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__EXPORT matrix::Quatf get_rot_quaternion(enum Rotation rot);
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template<typename T>
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static constexpr bool rotate_3(enum Rotation rot, T &x, T &y, T &z)
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{
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switch (rot) {
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case ROTATION_NONE:
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return true;
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case ROTATION_YAW_90: {
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T tmp = x;
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x = math::negate(y);
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y = tmp;
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}
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return true;
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case ROTATION_YAW_180: {
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x = math::negate(x);
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y = math::negate(y);
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}
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return true;
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case ROTATION_YAW_270: {
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T tmp = x;
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x = y;
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y = math::negate(tmp);
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}
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return true;
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case ROTATION_ROLL_180: {
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y = math::negate(y);
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z = math::negate(z);
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}
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return true;
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case ROTATION_ROLL_180_YAW_90:
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// FALLTHROUGH
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case ROTATION_PITCH_180_YAW_270: {
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T tmp = x;
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x = y;
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y = tmp;
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z = math::negate(z);
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}
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return true;
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case ROTATION_PITCH_180: {
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x = math::negate(x);
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z = math::negate(z);
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}
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return true;
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case ROTATION_ROLL_180_YAW_270:
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// FALLTHROUGH
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case ROTATION_PITCH_180_YAW_90: {
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T tmp = x;
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x = math::negate(y);
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y = math::negate(tmp);
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z = math::negate(z);
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}
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return true;
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case ROTATION_ROLL_90: {
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T tmp = z;
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z = y;
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y = math::negate(tmp);
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}
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return true;
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case ROTATION_ROLL_90_YAW_90: {
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T tmp = x;
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x = z;
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z = y;
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y = tmp;
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}
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return true;
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case ROTATION_ROLL_270: {
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T tmp = z;
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z = math::negate(y);
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y = tmp;
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}
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return true;
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case ROTATION_ROLL_270_YAW_90: {
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T tmp = x;
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x = math::negate(z);
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z = math::negate(y);
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y = tmp;
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}
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return true;
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case ROTATION_PITCH_90: {
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T tmp = z;
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z = math::negate(x);
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x = tmp;
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}
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return true;
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case ROTATION_PITCH_270: {
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T tmp = z;
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z = x;
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x = math::negate(tmp);
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}
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return true;
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case ROTATION_ROLL_180_PITCH_270: {
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T tmp = z;
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z = x;
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x = tmp;
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y = math::negate(y);
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}
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return true;
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case ROTATION_ROLL_90_YAW_270: {
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T tmp = x;
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x = math::negate(z);
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z = y;
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y = math::negate(tmp);
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}
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return true;
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case ROTATION_ROLL_90_PITCH_90: {
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T tmp = x;
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x = y;
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y = math::negate(z);
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z = math::negate(tmp);
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}
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return true;
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case ROTATION_ROLL_180_PITCH_90: {
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T tmp = x;
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x = math::negate(z);
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y = math::negate(y);
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z = math::negate(tmp);
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}
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return true;
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case ROTATION_ROLL_270_PITCH_90: {
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T tmp = x;
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x = math::negate(y);
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y = z;
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z = math::negate(tmp);
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}
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return true;
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case ROTATION_ROLL_90_PITCH_180: {
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T tmp = y;
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x = math::negate(x);
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y = math::negate(z);
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z = math::negate(tmp);
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}
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return true;
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case ROTATION_ROLL_270_PITCH_180: {
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T tmp = y;
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x = math::negate(x);
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y = z;
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z = tmp;
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}
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return true;
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case ROTATION_ROLL_90_PITCH_270: {
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T tmp = x;
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x = math::negate(y);
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y = math::negate(z);
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z = tmp;
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}
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return true;
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case ROTATION_ROLL_270_PITCH_270: {
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T tmp = x;
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x = y;
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y = z;
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z = tmp;
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}
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return true;
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case ROTATION_ROLL_90_PITCH_180_YAW_90: {
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T tmp = x;
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x = z;
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z = math::negate(y);
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y = math::negate(tmp);
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}
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return true;
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default:
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break;
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}
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return false;
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}
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/**
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* rotate a 3 element int16_t vector in-place
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*/
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__EXPORT inline void rotate_3i(enum Rotation rot, int16_t &x, int16_t &y, int16_t &z)
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{
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if (!rotate_3(rot, x, y, z)) {
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// otherwise use full rotation matrix for valid rotations
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if (rot < ROTATION_MAX) {
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const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{(float)x, (float)y, (float)z}};
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x = math::constrain(roundf(r(0)), (float)INT16_MIN, (float)INT16_MAX);
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y = math::constrain(roundf(r(1)), (float)INT16_MIN, (float)INT16_MAX);
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z = math::constrain(roundf(r(2)), (float)INT16_MIN, (float)INT16_MAX);
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}
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}
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}
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/**
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* rotate a 3 element float vector in-place
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*/
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__EXPORT inline void rotate_3f(enum Rotation rot, float &x, float &y, float &z)
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{
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if (!rotate_3(rot, x, y, z)) {
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// otherwise use full rotation matrix for valid rotations
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if (rot < ROTATION_MAX) {
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const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{x, y, z}};
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x = r(0);
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y = r(1);
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z = r(2);
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}
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}
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}
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