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Code Issues Releases Activity

OP-908 Uniform handling of M_PI using a Floating counterpart F_PI, explicitly define integer constants as float when used in floating point calculations

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+review OPReview-436
This commit is contained in:
Alessio Morale 2013-04-06 23:07:06 +02:00
parent ce6f84063c
commit 71de38f2d5
3 changed files with 11 additions and 8 deletions
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2
flight/Libraries/CoordinateConversions.c
View File

@ -31,7 +31,7 @@
#include <stdint.h>
#include "CoordinateConversions.h"
#define F_PI 3.14159265358979323846f
#define F_PI ((float)M_PI)
#define RAD2DEG (180.0f/ F_PI)
#define DEG2RAD (F_PI /180.0f)

7
flight/Libraries/math/sin_lookup.c
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@ -33,6 +33,7 @@
#include "stdbool.h"
#include "stdint.h"
#define F_PI ((float)M_PI)
#define FLASH_TABLE
#ifdef FLASH_TABLE
/** Version of the code which precomputes the lookup table in flash **/
@ -81,7 +82,7 @@ int sin_lookup_initalize()
return -1;
for(uint32_t i = 0; i < 180; i++)
sin_table[i] = sinf((float)i * 2 * ((float)M_PI) / 360.0f);
sin_table[i] = sinf((float)i * 2 * F_PI / 360.0f);
return 0;
}
@ -126,7 +127,7 @@ float cos_lookup_deg(float angle)
*/
float sin_lookup_rad(float angle)
{
int degrees = angle * 180.0f / ((float)M_PI);
int degrees = angle * 180.0f / F_PI;
return sin_lookup_deg(degrees);
}
@ -137,6 +138,6 @@ float sin_lookup_rad(float angle)
*/
float cos_lookup_rad(float angle)
{
int degrees = angle * 180.0f / ((float)M_PI);
int degrees = angle * 180.0f / F_PI;
return cos_lookup_deg(degrees);
}

10
flight/Modules/Attitude/attitude.c
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@ -67,6 +67,8 @@
#define UPDATE_RATE 25.0f
#define GYRO_NEUTRAL 1665
#define F_PI ((float)M_PI)
#define PI_MOD(x) (fmod(x + M_PI, M_PI * 2) - M_PI)
// Private types
@ -513,10 +515,10 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
// Work out time derivative from INSAlgo writeup
// Also accounts for the fact that gyros are in deg/s
float qdot[4];
qdot[0] = (-q[1] * gyros[0] - q[2] * gyros[1] - q[3] * gyros[2]) * dT * (((float)M_PI) / 180 / 2);
qdot[1] = (q[0] * gyros[0] - q[3] * gyros[1] + q[2] * gyros[2]) * dT * (((float)M_PI) / 180 / 2);
qdot[2] = (q[3] * gyros[0] + q[0] * gyros[1] - q[1] * gyros[2]) * dT * (((float)M_PI) / 180 / 2);
qdot[3] = (-q[2] * gyros[0] + q[1] * gyros[1] + q[0] * gyros[2]) * dT * (((float)M_PI) / 180 / 2);
qdot[0] = (-q[1] * gyros[0] - q[2] * gyros[1] - q[3] * gyros[2]) * dT * (F_PI / 180.0f / 2.0f);
qdot[1] = (q[0] * gyros[0] - q[3] * gyros[1] + q[2] * gyros[2]) * dT * (F_PI / 180.0f / 2.0f);
qdot[2] = (q[3] * gyros[0] + q[0] * gyros[1] - q[1] * gyros[2]) * dT * (F_PI / 180.0f / 2.0f);
qdot[3] = (-q[2] * gyros[0] + q[1] * gyros[1] + q[0] * gyros[2]) * dT * (F_PI / 180.0f / 2.0f);
// Take a time step
q[0] = q[0] + qdot[0];