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Code Issues Releases Activity

Flight: Keep getting WMM memory usage down

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1438 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-08-27 21:05:38 +00:00 committed by peabody124
parent 0db04e8ad4
commit 5f9289f0c0
3 changed files with 26 additions and 22 deletions
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44
flight/Libraries/WorldMagModel.c
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@ -90,31 +90,35 @@ void WMM_GetMagVector(float Lat, float Lon, float AltEllipsoid, uint16_t Month,
Ellip = (WMMtype_Ellipsoid *) pvPortMalloc(sizeof(WMMtype_Ellipsoid));
MagneticModel = (WMMtype_MagneticModel *) pvPortMalloc(sizeof(WMMtype_MagneticModel));
WMMtype_CoordSpherical CoordSpherical;
WMMtype_CoordGeodetic CoordGeodetic;
WMMtype_Date Date;
WMMtype_GeoMagneticElements GeoMagneticElements;
WMMtype_CoordSpherical * CoordSpherical = (WMMtype_CoordSpherical *) pvPortMalloc(sizeof(CoordSpherical));
WMMtype_CoordGeodetic * CoordGeodetic = (WMMtype_CoordGeodetic *) pvPortMalloc(sizeof(CoordGeodetic));
WMMtype_Date * Date = (WMMtype_Date *) pvPortMalloc(sizeof(WMMtype_Date));
WMMtype_GeoMagneticElements * GeoMagneticElements = (WMMtype_GeoMagneticElements *) pvPortMalloc(sizeof(GeoMagneticElements));
WMM_Initialize();
CoordGeodetic.lambda = Lon;
CoordGeodetic.phi = Lat;
CoordGeodetic.HeightAboveEllipsoid = AltEllipsoid;
WMM_GeodeticToSpherical(&CoordGeodetic, &CoordSpherical); /*Convert from geodeitic to Spherical Equations: 17-18, WMM Technical report*/
CoordGeodetic->lambda = Lon;
CoordGeodetic->phi = Lat;
CoordGeodetic->HeightAboveEllipsoid = AltEllipsoid;
WMM_GeodeticToSpherical(CoordGeodetic, CoordSpherical); /*Convert from geodeitic to Spherical Equations: 17-18, WMM Technical report*/
Date.Month=Month;
Date.Day=Day;
Date.Year=Year;
WMM_DateToYear (&Date, Error_Message);
Date->Month=Month;
Date->Day=Day;
Date->Year=Year;
WMM_DateToYear (Date, Error_Message);
WMM_TimelyModifyMagneticModel(Date);
WMM_Geomag(&CoordSpherical, &CoordGeodetic, &GeoMagneticElements); /* Computes the geoMagnetic field elements and their time change*/
WMM_Geomag(CoordSpherical, CoordGeodetic, GeoMagneticElements); /* Computes the geoMagnetic field elements and their time change*/
B[0]=GeoMagneticElements->X;
B[1]=GeoMagneticElements->Y;
B[2]=GeoMagneticElements->Z;
vPortFree(Ellip);
vPortFree(MagneticModel);
B[0]=GeoMagneticElements.X;
B[1]=GeoMagneticElements.Y;
B[2]=GeoMagneticElements.Z;
vPortFree(CoordSpherical);
vPortFree(CoordGeodetic);
vPortFree(Date);
vPortFree(GeoMagneticElements);
}
uint16_t WMM_Geomag( WMMtype_CoordSpherical * CoordSpherical, WMMtype_CoordGeodetic * CoordGeodetic,
@ -861,7 +865,7 @@ uint16_t WMM_SecVarSummationSpecial(WMMtype_SphericalHarmonicVariables * SphVari
}/*SecVarSummationSpecial*/
void WMM_TimelyModifyMagneticModel(WMMtype_Date UserDate)
void WMM_TimelyModifyMagneticModel(WMMtype_Date * UserDate)
// Time change the Model coefficients from the base year of the model using secular variation coefficients.
//
// Modified to work on the global data structure to reduce memory footprint
@ -877,8 +881,8 @@ void WMM_TimelyModifyMagneticModel(WMMtype_Date UserDate)
index = (n * (n + 1) / 2 + m);
if(index <= b)
{
MagneticModel->Main_Field_Coeff_H[index] += (UserDate.DecimalYear - MagneticModel->epoch) * MagneticModel->Secular_Var_Coeff_H[index];
MagneticModel->Main_Field_Coeff_G[index] += (UserDate.DecimalYear - MagneticModel->epoch) * MagneticModel->Secular_Var_Coeff_G[index];
MagneticModel->Main_Field_Coeff_H[index] += (UserDate->DecimalYear - MagneticModel->epoch) * MagneticModel->Secular_Var_Coeff_H[index];
MagneticModel->Main_Field_Coeff_G[index] += (UserDate->DecimalYear - MagneticModel->epoch) * MagneticModel->Secular_Var_Coeff_G[index];
}
}
}

2
flight/Libraries/inc/WMMInternal.h
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@ -122,7 +122,7 @@
void WMM_Set_Coeff_Array();
void WMM_GeodeticToSpherical(WMMtype_CoordGeodetic * CoordGeodetic, WMMtype_CoordSpherical *CoordSpherical);
uint16_t WMM_DateToYear (WMMtype_Date *CalendarDate, char *Error);
void WMM_TimelyModifyMagneticModel(WMMtype_Date UserDate);
void WMM_TimelyModifyMagneticModel(WMMtype_Date * UserDate);
uint16_t WMM_Geomag(WMMtype_CoordSpherical * CoordSpherical,
WMMtype_CoordGeodetic * CoordGeodetic,
WMMtype_GeoMagneticElements *GeoMagneticElements);

2
flight/OpenPilot/Modules/GPS/GPS.c
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@ -54,7 +54,7 @@ static void setHomeLocation(GPSPositionData * gpsData);
// Private constants
// Unfortunately need a good size stack for the WMM calculation
#define STACK_SIZE configMINIMAL_STACK_SIZE + 2000
#define STACK_SIZE configMINIMAL_STACK_SIZE + 1500
#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
// Private types