__pdata int32_t ao_sample_yaw_sum;
__pdata int32_t ao_sample_roll_sum;
static struct ao_quaternion ao_rotation;
-static struct ao_quaternion ao_pad_orientation;
#endif
static void
ao_sample_roll_sum = 0;
ao_sample_orient = 0;
- /* No rotation yet */
- ao_quaternion_init_zero_rotation(&ao_rotation);
+ struct ao_quaternion orient;
/* Take the pad IMU acceleration values and compute our current direction
*/
- ao_quaternion_init_vector(&ao_pad_orientation,
- ao_ground_accel_across - ao_config.accel_zero_across,
- ao_ground_accel_through - ao_config.accel_zero_through,
- -ao_ground_accel_along - ao_config.accel_zero_along);
-
- ao_quaternion_normalize(&ao_pad_orientation,
- &ao_pad_orientation);
-
+
+ ao_quaternion_init_vector(&orient,
+ (ao_ground_accel_across - ao_config.accel_zero_across),
+ (ao_ground_accel_through - ao_config.accel_zero_through),
+ (ao_ground_accel_along - ao_config.accel_zero_along));
+
+ ao_quaternion_normalize(&orient,
+ &orient);
+
+ /* Here's up */
+
+ struct ao_quaternion up = { .r = 0, .x = 0, .y = 0, .z = 1 };
+
+ if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
+ up.z = -1;
+
+ /* Compute rotation to get from up to our current orientation, set
+ * that as the current rotation vector
+ */
+ ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
#endif
nsamples = 0;
}
* orientation vector and rotating it by the current total
* rotation value. That will be a unit vector pointing along
* the airframe axis. The Z value will be the cosine of the
- * change in the angle from vertical since boost
+ * change in the angle from vertical since boost.
+ *
+ * rot = ao_rotation * vertical * ao_rotation°
+ * rot = ao_rotation * (0,0,0,1) * ao_rotation°
+ * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+ *
+ * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
+ * = a.z² - a.y² - a.x² + a.r²
+ *
+ * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
+ * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
+ *
+ * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
+ * = -a.z² + a.y² + a.x² - a.r²
*/
- ao_quaternion_rotate(&point, &ao_pad_orientation, &ao_rotation);
+ float rotz;
+ rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
}