From f36669723d4fc29aca32e78abd52e85429937978 Mon Sep 17 00:00:00 2001 From: Mark Whitehorn Date: Sat, 28 Nov 2015 17:44:37 -0700 Subject: [PATCH] add rotation for stryker vtol --- src/lib/conversion/rotation.cpp | 5 +++++ src/lib/conversion/rotation.h | 4 +++- 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp index f56513e209..16bf874303 100644 --- a/src/lib/conversion/rotation.cpp +++ b/src/lib/conversion/rotation.cpp @@ -233,5 +233,10 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z) y = -y; return; } + case ROTATION_PITCH_90_ROLL_90: { + tmp = x; x = y; + y = -z; z = -tmp; + return; + } } } diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h index 280b9cad0c..ed8e4fda38 100644 --- a/src/lib/conversion/rotation.h +++ b/src/lib/conversion/rotation.h @@ -77,6 +77,7 @@ enum Rotation { ROTATION_ROLL_270_YAW_270 = 26, ROTATION_ROLL_180_PITCH_270 = 27, ROTATION_PITCH_90_YAW_180 = 28, + ROTATION_PITCH_90_ROLL_90 = 29, ROTATION_MAX }; @@ -115,7 +116,8 @@ const rot_lookup_t rot_lookup[] = { { 0, 270, 0 }, {270, 0, 270 }, {180, 270, 0 }, - { 0, 90, 180 } + { 0, 90, 180 }, + { 90, 90, 0 } }; /**