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Code Issues Releases Activity

Force more calculations to explicitly being float

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This commit is contained in:
James Cotton 2012-02-28 00:37:57 -06:00
parent 6f34153ae7
commit 7034a45e44
1 changed files with 17 additions and 17 deletions
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34
flight/Libraries/CoordinateConversions.c
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@ -43,12 +43,12 @@ void LLA2ECEF(float LLA[3], float ECEF[3])
float sinLat, sinLon, cosLat, cosLon;
float N;
sinLat = sin(DEG2RAD * LLA[0]);
sinLon = sin(DEG2RAD * LLA[1]);
cosLat = cos(DEG2RAD * LLA[0]);
cosLon = cos(DEG2RAD * LLA[1]);
sinLat = sinf(DEG2RAD * LLA[0]);
sinLon = sinf(DEG2RAD * LLA[1]);
cosLat = cosf(DEG2RAD * LLA[0]);
cosLon = cosf(DEG2RAD * LLA[1]);
N = a / sqrt(1.0 - e * e * sinLat * sinLat); //prime vertical radius of curvature
N = a / sqrtf(1.0f - e * e * sinLat * sinLat); //prime vertical radius of curvature
ECEF[0] = (N + LLA[2]) * cosLat * cosLon;
ECEF[1] = (N + LLA[2]) * cosLat * sinLon;
@ -68,28 +68,28 @@ uint16_t ECEF2LLA(float ECEF[3], float LLA[3])
**/
const float a = 6378137.0; // Equatorial Radius
const float e = 8.1819190842622e-2; // Eccentricity
const float e = 8.1819190842622e-2f; // Eccentricity
float x = ECEF[0], y = ECEF[1], z = ECEF[2];
float Lat, N, NplusH, delta, esLat;
uint16_t iter;
#define MAX_ITER 10 // should not take more than 5 for valid coordinates
#define ACCURACY 1.0e-11 // used to be e-14, but we don't need sub micrometer exact calculations
LLA[1] = RAD2DEG * atan2(y, x);
LLA[1] = RAD2DEG * atan2f(y, x);
Lat = DEG2RAD * LLA[0];
esLat = e * sin(Lat);
N = a / sqrt(1 - esLat * esLat);
esLat = e * sinf(Lat);
N = a / sqrtf(1 - esLat * esLat);
NplusH = N + LLA[2];
delta = 1;
iter = 0;
while (((delta > ACCURACY) || (delta < -ACCURACY))
&& (iter < MAX_ITER)) {
delta = Lat - atan(z / (sqrt(x * x + y * y) * (1 - (N * e * e / NplusH))));
delta = Lat - atanf(z / (sqrtf(x * x + y * y) * (1 - (N * e * e / NplusH))));
Lat = Lat - delta;
esLat = e * sin(Lat);
N = a / sqrt(1 - esLat * esLat);
NplusH = sqrt(x * x + y * y) / cos(Lat);
esLat = e * sinf(Lat);
N = a / sqrtf(1 - esLat * esLat);
NplusH = sqrtf(x * x + y * y) / cosf(Lat);
iter += 1;
}
@ -104,10 +104,10 @@ void RneFromLLA(float LLA[3], float Rne[3][3])
{
float sinLat, sinLon, cosLat, cosLon;
sinLat = (float)sin(DEG2RAD * LLA[0]);
sinLon = (float)sin(DEG2RAD * LLA[1]);
cosLat = (float)cos(DEG2RAD * LLA[0]);
cosLon = (float)cos(DEG2RAD * LLA[1]);
sinLat = (float)sinf(DEG2RAD * LLA[0]);
sinLon = (float)sinf(DEG2RAD * LLA[1]);
cosLat = (float)cosf(DEG2RAD * LLA[0]);
cosLon = (float)cosf(DEG2RAD * LLA[1]);
Rne[0][0] = -sinLat * cosLon;
Rne[0][1] = -sinLat * sinLon;