匿名飞控Sensor_Data_Prepare()里的坐标旋转
/数据坐标转90度/
sensor_val_ref[G_X] = sensor_val_rot[G_Y] ;
sensor_val_ref[G_Y] = -sensor_val_rot[G_X] ;
sensor_val_ref[G_Z] = sensor_val_rot[G_Z];
sensor_val_ref[A_X] = (sensor_val_rot[A_Y] - save.acc_offset[Y] ) ;
sensor_val_ref[A_Y] = -(sensor_val_rot[A_X] - save.acc_offset[X] ) ;
sensor_val_ref[A_Z] = (sensor_val_rot[A_Z] - save.acc_offset[Z] ) ;
在三维坐标下,以z轴为旋转轴,顺时针旋转,点(x,y,z)变为点(y,-x,z);逆时针旋转,点(x,y,z)变为点(-y,x,z)。由此可见上面的代码是按顺时针旋转。