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Code Issues Releases Activity

Use cos_lookup instead of sin_looup(x+90)

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This commit is contained in:
James Cotton 2012-08-03 11:34:05 -05:00
parent 3982ad0046
commit 490955dbea
1 changed files with 4 additions and 4 deletions
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8
flight/Modules/Stabilization/relay_tuning.c
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@ -100,12 +100,12 @@ int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
// Project the error onto a sine and cosine of the same frequency
// to accumulate the average amplitude
int dT = thisTime - lastHighTime;
uint32_t phase = 360 * dT / relay.Period[axis];
int32_t dT = thisTime - lastHighTime;
int32_t phase = (360 * dT) / relay.Period[axis];
if(phase >= 360)
phase = 1;
phase = 0;
accum_sin += sin_lookup_deg(phase) * error;
accum_cos += sin_lookup_deg(phase + 90) * error;
accum_cos += cos_lookup_deg(phase) * error;
accumulated ++;
// Make sure we've had enough time since last transition then check for a change in the output