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Code Issues Releases Activity

OP-1157 bugfix for sin_lookup_deg()

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This commit is contained in:
Cliff Geerdes 2014-01-11 16:56:09 -05:00
parent f2bc6508c4
commit b5007b5cc9
1 changed files with 6 additions and 2 deletions
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8
flight/libraries/math/sin_lookup.c
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@ -105,8 +105,12 @@ float sin_lookup_deg(float angle)
return 0;
}
int i_ang = ((int32_t)angle) % 360;
if (i_ang >= 180) { // for 180 to 360 deg
// 1073741760 is a multiple of 360 that is close to 0x3fffffff
// so angle can be a very large number of positive or negative rotations
// we could halve the lookup table size
// we could interpolate for greater accuracy
int i_ang = ((int32_t)(angle + 0.5f) + (int32_t)1073741760) % 360;
if (i_ang >= 180) { // for 180 to 359 deg
return -sin_table[i_ang - 180];
} else { // for 0 to 179 deg
return sin_table[i_ang];