Lines Matching +full:mount +full:- +full:matrix

2 * is the definition of +/- values practical or counterintuitive?
5 * should we have HOWTO engineer a correct matrix for a new device (without comparing to a different…
10 Mounting matrix
12 The mounting matrix is a device tree property used to orient any device
13 that produce three-dimensional data in relation to the world where it is
16 The purpose of the mounting matrix is to translate the sensor frame of
17 reference into the device frame of reference using a translation matrix as
37 reference. This means that the sensor may be flipped upside-down, left-right,
43 to this world. When using the mounting matrix, the sensor and device orientation
47 Device-to-world examples for some three-dimensional sensor types:
49 - Accelerometers have their world frame of reference toward the center of
57   as the gravity vector is projected 1:1 onto the sensors (z)-axis.
67      +--------+             +--------+
69      +--------+             +--------+
80      (---------)
81      !         !           y: -g
85      !         !  x: +g <- z: +g  -> x: -g
90      (---------)
93 - Magnetometers (compasses) have their world frame of reference relative to the
94   geomagnetic field. The system orientation vis-a-vis the world is defined with
103      (---------)
113      (---------)
129 - Gyroscopes detects the movement relative the device itself. The angular
134   counter-clockwise according to the right-hand rule.
137      (---------)     y > 0
138      !         !     v---\
141      !         !      <--\
143      ! 1  2  3 !       --/
147      (---------)
154 To achieve this, use the device tree property "mount-matrix" for the sensor.
156 This supplies a 3x3 rotation matrix in the strict linear algebraic sense,
159 multiplied by this matrix to give the proper vectors values in three-dimensional
165 The mounting matrix has the layout:
178 producing the transformation matrix.
182 Identity matrix (nothing happens to the coordinates, which means the device was
185 mount-matrix = "1", "0", "0",
190 compensate by performing a -30 degrees rotation around the X axis:
192 mount-matrix = "1", "0", "0",
194                "0", "-0.5", "0.866";
197 upside-down:
199 mount-matrix = "0.998", "0.054", "0",
200                "-0.054", "0.998", "0",
203 ???: this does not match "180 degrees" - factors indicate ca. 3 degrees compensation