From 51a21679bebd16ac59b4c6add127d4fa83892006 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Wed, 20 Jul 2022 15:47:27 -0500 Subject: [PATCH] AP_AHRS: expand description of custom orientation parameters --- libraries/AP_AHRS/AP_AHRS.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp index b7d5c25731..7ce08b1812 100644 --- a/libraries/AP_AHRS/AP_AHRS.cpp +++ b/libraries/AP_AHRS/AP_AHRS.cpp @@ -115,7 +115,7 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] = { // @Param: ORIENTATION // @DisplayName: Board Orientation - // @Description: Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. + // @Description: Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles. // @Values: 0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Yaw45Roll180,10:Yaw90Roll180,11:Yaw135Roll180,12:Pitch180,13:Yaw225Roll180,14:Yaw270Roll180,15:Yaw315Roll180,16:Roll90,17:Yaw45Roll90,18:Yaw90Roll90,19:Yaw135Roll90,20:Roll270,21:Yaw45Roll270,22:Yaw90Roll270,23:Yaw135Roll270,24:Pitch90,25:Pitch270,26:Yaw90Pitch180,27:Yaw270Pitch180,28:Pitch90Roll90,29:Pitch90Roll180,30:Pitch90Roll270,31:Pitch180Roll90,32:Pitch180Roll270,33:Pitch270Roll90,34:Pitch270Roll180,35:Pitch270Roll270,36:Yaw90Pitch180Roll90,37:Yaw270Roll90,38:Yaw293Pitch68Roll180,39:Pitch315,40:Pitch315Roll90,42:Roll45,43:Roll315,100:Custom 4.1 and older,101:Custom 1,102:Custom 2 // @User: Advanced AP_GROUPINFO("ORIENTATION", 9, AP_AHRS, _board_orientation, 0),