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Allow aligning the mag to any rotation #2833

Merged
merged 2 commits into from
Mar 23, 2018
Merged

Allow aligning the mag to any rotation #2833

merged 2 commits into from
Mar 23, 2018

Commits on Mar 15, 2018

  1. Allow aligning the mag to any rotation 

    Introduce 3 new variables which allow setting the decidegrees
for the mag sensor alignment. When any of these 3 variables
are non-zero, mag is assumed to be mounted off-board and
"align_mag" as well as the board alignment are ignored.

Settings are named align_mag_roll, align_mag_pitch and
align_mag_yaw.

Fixes #86
Fixes #1029
    @fiam
    fiam committed Mar 15, 2018
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  2. Precalculate external mag rotation matrix 

    Introduce rotateByMatrix(), which rotates a vector by the given
matrix. Initialize the matrix on mag initialization, so it's not
recalculated on every mag reading.
    @fiam
    fiam committed Mar 15, 2018
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