Revision 51:d4a5151af5af, committed 2021-08-17

Comitter:

AndyA

Date:

Tue Aug 17 16:38:39 2021 +0000

Parent:

50:d6c56eccf56a

Child:

52:adbbaadca0a9

Commit message:

Added orientation invert controls

Changed in this revision

--- a/LTCApp.h	Tue Aug 17 15:59:20 2021 +0000
+++ b/LTCApp.h	Tue Aug 17 16:38:39 2021 +0000
@@ -48,7 +48,9 @@
     float UDPTxDelayMS;
     float SerialTxDelayFrame;
     float UDPTxDelayFrame;
-
+    bool InvertRoll;
+    bool InvertPitch;
+    bool InvertYaw;
 } UserSettings_t;
 
 #endif

--- a/main.cpp	Tue Aug 17 15:59:20 2021 +0000
+++ b/main.cpp	Tue Aug 17 16:38:39 2021 +0000
@@ -470,6 +470,15 @@
     } else
         NoDataWarn= true;
 
+    if (posPtr) {
+        if(UserSettings.InvertRoll)
+            posPtr->roll = 360-posPtr->roll;
+        if(UserSettings.InvertPitch)
+            posPtr->pitch = 360-posPtr->pitch;
+        if(UserSettings.InvertYaw)
+            posPtr->yaw = 360-posPtr->yaw;
+    }
+
 
 // FreeD could be output by two different methods so calculate first if needed rather than at Tx.
     if ((UserSettings.SerialOutMode==mode_FreeD) || UserSettings.FreeDPort)
@@ -482,9 +491,9 @@
 // Network is faster so send that first.
     if (UserSettings.FreeDPort || UserSettings.VipsUDPPort) {
         if (UserSettings.UDPTxDelayMS > 0) {
-            UDPOutputDelayTimer.attach_us(&UDP_Tx_Now,UserSettings.UDPTxDelayMS*1000);           
+            UDPOutputDelayTimer.attach_us(&UDP_Tx_Now,UserSettings.UDPTxDelayMS*1000);
         } else
-        UDP_Tx_Now();
+            UDP_Tx_Now();
     }
 
     switch (UserSettings.SerialOutMode) {
@@ -619,6 +628,10 @@
     UserSettings.UDPTxDelayMS = 0;
     UserSettings.SerialTxDelayFrame = 0;
     UserSettings.UDPTxDelayFrame = 0;
+    UserSettings.InvertRoll = false;
+    UserSettings.InvertPitch = false;
+    UserSettings.InvertYaw = false;
+
 
     LocalFileSystem localFS("local");
     FILE *LSFile= fopen("/local/settings.txt","r");
@@ -705,7 +718,18 @@
                     pc.printf("Got UDP delay value from file of %.2f frames\r\n",floatIn);
                     UserSettings.UDPTxDelayFrame = floatIn;
                 }
-
+                if (sscanf(lineBuffer,"InvertRoll=%d",&valueIn) == 1) {
+                    pc.printf("Got InvertRoll value from file of %d\r\n",valueIn);
+                    UserSettings.InvertRoll = (valueIn==1);
+                }
+                if (sscanf(lineBuffer,"InvertPitch=%d",&valueIn) == 1) {
+                    pc.printf("Got InvertPitch value from file of %d\r\n",valueIn);
+                    UserSettings.InvertPitch = (valueIn==1);
+                }
+                if (sscanf(lineBuffer,"InvertYaw=%d",&valueIn) == 1) {
+                    pc.printf("Got InvertYaw value from file of %d\r\n",valueIn);
+                    UserSettings.InvertYaw = (valueIn==1);
+                }
             }
         }
         fclose(LSFile);

--- a/settings.txt	Tue Aug 17 15:59:20 2021 +0000
+++ b/settings.txt	Tue Aug 17 16:38:39 2021 +0000
@@ -64,6 +64,7 @@
 #   Used Beacon List (mask value 0x1000)
 //ExtendedOutput=1
 
+
 # By default the FIZ output is sent as soon as possible after the sync pulse.
 # An optional delay can be added to this to either as time or as a proportion of a frame 
 # If both ms and frame delays are set then the frame one will be used.
@@ -79,6 +80,13 @@
 //DelayUDP=5.2
 #   Delay the serial by a fraction of a frame
 //DelayUDPFrame=0.3
+
+
+# Orientation control 
+#   These options allow the direction of the orientation channels to be inverted.
+//InvertRoll=1 
+//InvertPitch=1 
+//InvertYaw=1 
  
 [NOTES]
 - All settings are case sensitive.