feat: allow IMU inversion (#7505)

companion/src/firmwares/edgetx/yaml_generalsettings.cpp

@@ -365,6 +365,7 @@ Node convert<GeneralSettings>::encode(const GeneralSettings& rhs)
   if (Boards::getCapability(board, Board::HasIMU)) {
     node["imuMax"] = rhs.imuMax;
     node["imuOffset"] = rhs.imuOffset;
+    node["imuInvert"] = (rhs.imuInvertX ? 1 : 0) | (rhs.imuInvertY ? 2 : 0);
   }
 
   // OneBit sampling (X9D only?)
@@ -714,6 +715,10 @@ bool convert<GeneralSettings>::decode(const Node& node, GeneralSettings& rhs)
 
   node["imuMax"] >> rhs.imuMax;
   node["imuOffset"] >> rhs.imuOffset;
+  int imuInvert = 0;
+  node["imuInvert"] >> imuInvert;
+  rhs.imuInvertX = imuInvert & 0x1;
+  rhs.imuInvertY = imuInvert & 0x2;
 
   // OneBit sampling (X9D only?)
   node["uartSampleMode"] >> rhs.uartSampleMode;

companion/src/firmwares/generalsettings.h

@@ -384,6 +384,8 @@ class GeneralSettings {
     char registrationId[REGISTRATION_ID_LEN + 1];
     int imuMax;
     int imuOffset;
+    bool imuInvertX;
+    bool imuInvertY;
     int uartSampleMode;
 
     int pwrOnSpeed;

companion/src/generaledit/hardware.cpp

@@ -107,6 +107,25 @@ HardwarePanel::HardwarePanel(QWidget * parent, GeneralSettings & generalSettings
     addParams();
   }
 
+  if (Boards::getCapability(board, Board::HasIMU)) {
+    addSection(tr("IMU"));
+    addLabel("");
+    addLabel(tr("Invert"));
+    addParams();
+
+    addLabel(tr("X"));
+    AutoCheckBox *imuInvertX = new AutoCheckBox(this);
+    imuInvertX->setField(generalSettings.imuInvertX, this);
+    params->append(imuInvertX);
+    addParams();
+
+    addLabel(tr("Y"));
+    AutoCheckBox *imuInvertY = new AutoCheckBox(this);
+    imuInvertY->setField(generalSettings.imuInvertY, this);
+    params->append(imuInvertY);
+    addParams();
+  }
+
   count = Boards::getCapability(board, Board::Inputs);
 
   if (count > 0) {

radio/src/datastructs.h

@@ -77,11 +77,15 @@ static inline void check_struct()
 #endif
 
 #if defined(PCBXLITES)
-  CHKSIZE(RadioData, 950);
+  CHKSIZE(RadioData, 951);
 #elif defined(RADIO_ST16) || defined(PCBPA01) || defined(RADIO_TX15) || defined(RADIO_T15PRO) || defined(RADIO_TX16SMK3) || defined(RADIO_T22)
-  CHKSIZE(RadioData, 1181);
+  CHKSIZE(RadioData, 1182);
 #elif defined(COLORLCD)
-  CHKSIZE(RadioData, 1061);
+  #if defined(IMU)
+    CHKSIZE(RadioData, 1062);
+  #else
+    CHKSIZE(RadioData, 1061);
+  #endif
 #elif defined(RADIO_GX12)
   CHKSIZE(RadioData, 1068);
 #else

radio/src/datastructs_private.h

@@ -1128,6 +1128,7 @@ PACK(struct RadioData {
 #if defined(IMU)
   NOBACKUP(int8_t imuMax);
   NOBACKUP(int8_t imuOffset);
+  NOBACKUP(uint8_t imuInvert);  // user inversion, default off; XORed with hal.h IMU_INVERT_X/Y at apply time (bit0=X, bit1=Y)
 #endif
 
 #if defined(COLORLCD)

radio/src/gui/colorlcd/radio/hw_inputs.cpp

@@ -25,10 +25,14 @@
 #include "choice.h"
 #include "edgetx.h"
 #include "getset_helpers.h"
+#if defined(IMU)
+  #include "gyro.h"
+#endif
 #include "hal/adc_driver.h"
 #include "hal/switch_driver.h"
 #include "layout.h"
 #include "static.h"
+#include "strhelpers.h"
 #include "switches.h"
 #include "textedit.h"
 
@@ -94,6 +98,25 @@ HWSticks::HWSticks(Window* parent) : Window(parent, {0, 0, LV_PCT(100), LV_SIZE_
     return std::to_string(value ? 2 << (value - 1) : 0);
   });
 #endif
+
+#if defined(IMU)
+  int imuRow = max_sticks;
+#if defined(STICK_DEAD_ZONE)
+  imuRow += 1;
+#endif
+  for (int a = 0; a < 2; a++) {
+    int row = imuRow + a;
+    new StaticText(this, {0, S_Y(row) + yo + PAD_MEDIUM, S_LBL_W, 0},
+                   getStringAtIndex(STR_IMU_VSRCRAW, a));
+    new ToggleSwitch(
+          this, {S_INV_X, S_Y(row) + yo, S_INV_W, 0},
+          [=]() -> uint8_t { return (uint8_t)getImuInversion(a); },
+          [=](int8_t newValue) {
+            setImuInversion(a, newValue);
+            SET_DIRTY();
+          });
+  }
+#endif
 }
 
 HWPots::HWPots(Window* parent) :

radio/src/gyro.cpp

@@ -102,6 +102,41 @@ static void gyroFilter(etx_imu_data_t* raw)
   }
 }
 
+// Fixed hardware mounting correction from the target hal.h (X = bit 0, Y = bit 1).
+// This accounts for how the chip is physically positioned and is always applied.
+static uint8_t imuHwInvertMask()
+{
+  uint8_t mask = 0;
+#if defined(IMU_INVERT_X)
+  mask |= (1 << IMU_AXIS_X);
+#endif
+#if defined(IMU_INVERT_Y)
+  mask |= (1 << IMU_AXIS_Y);
+#endif
+  return mask;
+}
+
+// User-selectable inversion, stored verbatim and defaulting to off.
+bool getImuInversion(uint8_t axis)
+{
+  return (g_eeGeneral.imuInvert >> axis) & 1;
+}
+
+void setImuInversion(uint8_t axis, bool value)
+{
+  if (value)
+    g_eeGeneral.imuInvert |= (1 << axis);
+  else
+    g_eeGeneral.imuInvert &= ~(1 << axis);
+}
+
+// Effective inversion applied to sensor data: hardware correction XOR user choice.
+static bool imuAxisInverted(uint8_t axis)
+{
+  uint8_t effective = g_eeGeneral.imuInvert ^ imuHwInvertMask();
+  return (effective >> axis) & 1;
+}
+
 void gyroStart(imu_read_fn fn)
 {
   readFn = fn;
@@ -126,6 +161,15 @@ void gyroWakeup()
 
   errors = 0;
 
+  if (imuAxisInverted(IMU_AXIS_X)) {
+    raw.accel_x = -raw.accel_x;
+    raw.gyro_x  = -raw.gyro_x;
+  }
+  if (imuAxisInverted(IMU_AXIS_Y)) {
+    raw.accel_y = -raw.accel_y;
+    raw.gyro_y  = -raw.gyro_y;
+  }
+
   gyroFilter(&raw);
 
   raw_ax = (int16_t)filteredAccel[0];

radio/src/gyro.h

@@ -29,6 +29,15 @@
 #define IMU_OFFSET_MIN       -30
 #define IMU_OFFSET_MAX        10
 
+#define IMU_AXIS_X            0
+#define IMU_AXIS_Y            1
+
+// User-selectable IMU axis inversion, stored verbatim and defaulting to off.
+// The fixed hardware mounting correction (IMU_INVERT_X/Y in the target hal.h) is
+// applied on top of this internally, so the user setting is independent of it.
+bool getImuInversion(uint8_t axis);
+void setImuInversion(uint8_t axis, bool value);
+
 void gyroStart(imu_read_fn fn);
 void gyroWakeup();
 void gyroSetIMU_X(int16_t offset, int16_t range);

radio/src/storage/yaml/yaml_datastructs_f16.cpp

@@ -435,6 +435,7 @@ static const struct YamlNode struct_RadioData[] = {
   YAML_PADDING( 3 ),
   YAML_SIGNED( "imuMax", 8 ),
   YAML_SIGNED( "imuOffset", 8 ),
+  YAML_UNSIGNED( "imuInvert", 8 ),
   YAML_STRING("selectedTheme", 26),
   YAML_SIGNED_CUST( "backlightSrc", 10, r_mixSrcRawEx, w_mixSrcRawEx ),
   YAML_SIGNED( "radioGFDisabled", 1 ),

radio/src/storage/yaml/yaml_datastructs_pa01.cpp

@@ -458,6 +458,7 @@ static const struct YamlNode struct_RadioData[] = {
   YAML_UNSIGNED( "stickDeadZone", 3 ),
   YAML_SIGNED( "imuMax", 8 ),
   YAML_SIGNED( "imuOffset", 8 ),
+  YAML_UNSIGNED( "imuInvert", 8 ),
   YAML_STRING("selectedTheme", 26),
   YAML_SIGNED_CUST( "backlightSrc", 10, r_mixSrcRawEx, w_mixSrcRawEx ),
   YAML_SIGNED( "radioGFDisabled", 1 ),

radio/src/storage/yaml/yaml_datastructs_st16.cpp

@@ -458,6 +458,7 @@ static const struct YamlNode struct_RadioData[] = {
   YAML_UNSIGNED( "stickDeadZone", 3 ),
   YAML_SIGNED( "imuMax", 8 ),
   YAML_SIGNED( "imuOffset", 8 ),
+  YAML_UNSIGNED( "imuInvert", 8 ),
   YAML_STRING("selectedTheme", 26),
   YAML_SIGNED_CUST( "backlightSrc", 10, r_mixSrcRawEx, w_mixSrcRawEx ),
   YAML_SIGNED( "radioGFDisabled", 1 ),

radio/src/storage/yaml/yaml_datastructs_t15.cpp

@@ -443,6 +443,7 @@ static const struct YamlNode struct_RadioData[] = {
   YAML_PADDING( 3 ),
   YAML_SIGNED( "imuMax", 8 ),
   YAML_SIGNED( "imuOffset", 8 ),
+  YAML_UNSIGNED( "imuInvert", 8 ),
   YAML_STRING("selectedTheme", 26),
   YAML_SIGNED_CUST( "backlightSrc", 10, r_mixSrcRawEx, w_mixSrcRawEx ),
   YAML_SIGNED( "radioGFDisabled", 1 ),

radio/src/storage/yaml/yaml_datastructs_t15pro.cpp

@@ -458,6 +458,7 @@ static const struct YamlNode struct_RadioData[] = {
   YAML_UNSIGNED( "stickDeadZone", 3 ),
   YAML_SIGNED( "imuMax", 8 ),
   YAML_SIGNED( "imuOffset", 8 ),
+  YAML_UNSIGNED( "imuInvert", 8 ),
   YAML_STRING("selectedTheme", 26),
   YAML_SIGNED_CUST( "backlightSrc", 10, r_mixSrcRawEx, w_mixSrcRawEx ),
   YAML_SIGNED( "radioGFDisabled", 1 ),

radio/src/storage/yaml/yaml_datastructs_t22.cpp

@@ -458,6 +458,7 @@ static const struct YamlNode struct_RadioData[] = {
   YAML_PADDING( 3 ),
   YAML_SIGNED( "imuMax", 8 ),
   YAML_SIGNED( "imuOffset", 8 ),
+  YAML_UNSIGNED( "imuInvert", 8 ),
   YAML_STRING("selectedTheme", 26),
   YAML_SIGNED_CUST( "backlightSrc", 10, r_mixSrcRawEx, w_mixSrcRawEx ),
   YAML_SIGNED( "radioGFDisabled", 1 ),

radio/src/storage/yaml/yaml_datastructs_tx15.cpp

@@ -458,6 +458,7 @@ static const struct YamlNode struct_RadioData[] = {
   YAML_UNSIGNED( "stickDeadZone", 3 ),
   YAML_SIGNED( "imuMax", 8 ),
   YAML_SIGNED( "imuOffset", 8 ),
+  YAML_UNSIGNED( "imuInvert", 8 ),
   YAML_STRING("selectedTheme", 26),
   YAML_SIGNED_CUST( "backlightSrc", 10, r_mixSrcRawEx, w_mixSrcRawEx ),
   YAML_SIGNED( "radioGFDisabled", 1 ),

radio/src/storage/yaml/yaml_datastructs_tx16smk3.cpp

@@ -459,6 +459,7 @@ static const struct YamlNode struct_RadioData[] = {
   YAML_PADDING( 3 ),
   YAML_SIGNED( "imuMax", 8 ),
   YAML_SIGNED( "imuOffset", 8 ),
+  YAML_UNSIGNED( "imuInvert", 8 ),
   YAML_STRING("selectedTheme", 26),
   YAML_SIGNED_CUST( "backlightSrc", 10, r_mixSrcRawEx, w_mixSrcRawEx ),
   YAML_SIGNED( "radioGFDisabled", 1 ),

radio/src/storage/yaml/yaml_datastructs_x10.cpp

@@ -434,6 +434,7 @@ static const struct YamlNode struct_RadioData[] = {
   YAML_PADDING( 3 ),
   YAML_SIGNED( "imuMax", 8 ),
   YAML_SIGNED( "imuOffset", 8 ),
+  YAML_UNSIGNED( "imuInvert", 8 ),
   YAML_STRING("selectedTheme", 26),
   YAML_SIGNED_CUST( "backlightSrc", 10, r_mixSrcRawEx, w_mixSrcRawEx ),
   YAML_SIGNED( "radioGFDisabled", 1 ),

radio/src/storage/yaml/yaml_datastructs_xlites.cpp

@@ -372,6 +372,7 @@ static const struct YamlNode struct_RadioData[] = {
   YAML_PADDING( 3 ),
   YAML_SIGNED( "imuMax", 8 ),
   YAML_SIGNED( "imuOffset", 8 ),
+  YAML_UNSIGNED( "imuInvert", 8 ),
   YAML_SIGNED_CUST( "backlightSrc", 10, r_mixSrcRawEx, w_mixSrcRawEx ),
   YAML_SIGNED( "radioGFDisabled", 1 ),
   YAML_SIGNED( "radioTrainerDisabled", 1 ),

radio/src/targets/tx15/hal.h

@@ -402,6 +402,8 @@ SAI1_Block_A: PDM_CLOCK (1 MHz bit-clock output on SAI1_CK1 / PE5, !FLYSKY_GIMBA
 // IMU
 #define IMU_I2C_BUS                     I2C_Bus_1
 #define IMU_INT_GPIO	                GPIO_PIN(GPIOG, 13) // PG.13
+#define IMU_INVERT_X                    // X axis mounted reversed (default, user-overridable)
+#define IMU_INVERT_Y                    // Y axis mounted reversed (default, user-overridable)
 
 // IMU_INT_EXTI IRQ
 #if !defined(USE_EXTI15_10_IRQ)

radio/src/targets/tx16smk3/hal.h

@@ -601,6 +601,8 @@ USART6: INTMODULE_USART
 
 #define IMU_I2C_BUS                     I2C_Bus_2
 #define IMU_INT_GPIO                    GPIO_PIN(GPIOG, 13) // PG.13
+#define IMU_INVERT_X                    // X axis mounted reversed (default, user-overridable)
+#define IMU_INVERT_Y                    // Y axis mounted reversed (default, user-overridable)
 #if !defined(USE_EXTI15_10_IRQ)
   #define USE_EXTI15_10_IRQ
   #define EXTI15_10_IRQ_Priority       6