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[hal, wpilib] Add support for onboard IMU mount orientations with Euler angles (#8061)

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This commit is contained in:
Jonah Bonner
2025-07-18 00:20:10 -04:00
committed by GitHub
parent fa65657746
commit a6892b6cd5
7 changed files with 181 additions and 30 deletions
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48
hal/src/main/native/cpp/jni/IMUJNI.cpp
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@@ -72,11 +72,11 @@ Java_edu_wpi_first_hal_IMUJNI_getIMUGyroRates
/*
* Class: edu_wpi_first_hal_IMUJNI
* Method: getIMUEulerAngles
* Method: getIMUEulerAnglesFlat
* Signature: ([D)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_IMUJNI_getIMUEulerAngles
Java_edu_wpi_first_hal_IMUJNI_getIMUEulerAnglesFlat
(JNIEnv* env, jclass, jdoubleArray angles)
{
assertArraySize(env, angles, 3, "angles");
@@ -84,7 +84,49 @@ Java_edu_wpi_first_hal_IMUJNI_getIMUEulerAngles
int32_t status = 0;
HAL_EulerAngles3d data;
HAL_GetIMUEulerAngles(&data, &status);
HAL_GetIMUEulerAnglesFlat(&data, &status);
CheckStatus(env, status);
double arr[]{data.x, data.y, data.z};
env->SetDoubleArrayRegion(angles, 0, 3, arr);
}
/*
* Class: edu_wpi_first_hal_IMUJNI
* Method: getIMUEulerAnglesLandscape
* Signature: ([D)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_IMUJNI_getIMUEulerAnglesLandscape
(JNIEnv* env, jclass, jdoubleArray angles)
{
assertArraySize(env, angles, 3, "angles");
int32_t status = 0;
HAL_EulerAngles3d data;
HAL_GetIMUEulerAnglesLandscape(&data, &status);
CheckStatus(env, status);
double arr[]{data.x, data.y, data.z};
env->SetDoubleArrayRegion(angles, 0, 3, arr);
}
/*
* Class: edu_wpi_first_hal_IMUJNI
* Method: getIMUEulerAnglesPortrait
* Signature: ([D)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_IMUJNI_getIMUEulerAnglesPortrait
(JNIEnv* env, jclass, jdoubleArray angles)
{
assertArraySize(env, angles, 3, "angles");
int32_t status = 0;
HAL_EulerAngles3d data;
HAL_GetIMUEulerAnglesPortrait(&data, &status);
CheckStatus(env, status);
double arr[]{data.x, data.y, data.z};