WebSVN - FlightCtrl - Blame - Rev 149 - /branches/salvo

Rev	Author	Line No.	Line
149	salvo	1	/*
		2	This program (files math.c and math.h) is free software; you can redistribute it and/or modify
		3	it under the terms of the GNU General Public License as published by the Free Software Foundation;
		4	either version 3 of the License, or (at your option) any later version.
		5	This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
		6	without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		7	GNU General Public License for more details. You should have received a copy of the GNU General Public License
		8	along with this program. If not, see <http://www.gnu.org/licenses/>.
		9
		10	Please note: All the other files for the project "Mikrokopter" by H.Buss are under the license (license_buss.txt) published by www.mikrokopter.de
		11	*/
		12	/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		13	Peter Muehlenbrock
		14	Winkelfunktionen sin, cos und arctan in
		15	brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend
		16	Stand 11.9.2007
		17	++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		18	*/
		19
		20	// arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad
		21	signed int arctan_i(signed int x, signed int y)
		22	{
		23	short int sign = 0;
		24	signed int i;
		25
		26	if (y > x) // x,y Werte vertauschen
		27	{
		28	sign = 1;
		29	i = x;
		30	x = y;
		31	y = i;
		32	}
		33
		34	}
		35
		36
		37	// cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000
		38	signed int cos_i(signed int winkel)
		39	{
		40	winkel = sin_i(90-winkel);
		41	return winkel;
		42	}
		43
		44
		45	// sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000
		46	signed int sin_i(signed int winkel)
		47	{
		48	short int m;
		49	winkel = winkel % 360;
		50	// Quadranten auswerten
		51	if ((winkel >= 90 ) && (winkel <180))
		52	{
		53	winkel = 180 - winkel;
		54	m = 1;
		55	}
		56	else if ((winkel >= 180 ) && (winkel <270))
		57	{
		58	winkel = winkel - 180;
		59	m = -1;
		60	}
		61	else if ((winkel >= 270 ) && (winkel < 360))
		62	{
		63	winkel = 360 -winkel ;
		64	m = -1;
		65	}
		66	else if ((winkel < 0) && (winkel > -90))
		67	{
		68	winkel = (abs(winkel));
		69	m = -1;
		70	}
		71	else if ((winkel < -90) && (winkel > -180))
		72	{
		73	winkel = 180-(abs(winkel));
		74	m = -1;
		75	}
		76	else if ((winkel < -180) && (winkel > -270))
		77	{
		78	winkel = (abs(winkel))-180;
		79	m = +1;
		80	}
		81	else if ((winkel < -270) && (winkel > -360))
		82	{
		83	winkel = 360-abs(winkel);
		84	m = +1;
		85	}
		86	else
		87	{
		88	m = +1;
		89	}
		90
		91
		92	//Aus Tabelle Werte holen
		93	switch (winkel)
		94	{
		95	case 1:
		96	winkel = 17;
		97	break;
		98	case 2:
		99	winkel = 35;
		100	break;
		101	case 3:
		102	winkel = 52;
		103	break;
		104	case 4:
		105	winkel = 70;
		106	break;
		107	case 5:
		108	winkel = 87;
		109	break;
		110	case 6:
		111	winkel = 105;
		112	break;
		113	case 7:
		114	winkel = 122;
		115	break;
		116	case 8:
		117	winkel = 139;
		118	break;
		119	case 9:
		120	winkel = 156;
		121	break;
		122	case 10:
		123	winkel = 174;
		124	break;
		125	case 11:
		126	winkel = 191;
		127	break;
		128	case 12:
		129	winkel = 208;
		130	break;
		131	case 13:
		132	winkel = 225;
		133	break;
		134	case 14:
		135	winkel = 242;
		136	break;
		137	case 15:
		138	winkel = 259;
		139	break;
		140	case 16:
		141	winkel = 276;
		142	break;
		143	case 17:
		144	winkel = 292;
		145	break;
		146	case 18:
		147	winkel = 309;
		148	break;
		149	case 19:
		150	winkel = 326;
		151	break;
		152	case 20:
		153	winkel = 342;
		154	break;
		155	case 21:
		156	winkel = 359;
		157	break;
		158	case 22:
		159	winkel = 375;
		160	break;
		161	case 23:
		162	winkel = 391;
		163	break;
		164	case 24:
		165	winkel = 407;
		166	break;
		167	case 25:
		168	winkel = 423;
		169	break;
		170	case 26:
		171	winkel = 438;
		172	break;
		173	case 27:
		174	winkel = 454;
		175	break;
		176	case 28:
		177	winkel = 469;
		178	break;
		179	case 29:
		180	winkel = 485;
		181	break;
		182	case 30:
		183	winkel = 500;
		184	break;
		185	case 31:
		186	winkel = 515;
		187	break;
		188	case 32:
		189	winkel = 530;
		190	break;
		191	case 33:
		192	winkel = 545;
		193	break;
		194	case 34:
		195	winkel = 559;
		196	break;
		197	case 35:
		198	winkel = 574;
		199	break;
		200	case 36:
		201	winkel = 588;
		202	break;
		203	case 37:
		204	winkel = 602;
		205	break;
		206	case 38:
		207	winkel = 616;
		208	break;
		209	case 39:
		210	winkel = 630;
		211	break;
		212	case 40:
		213	winkel = 643;
		214	break;
		215	case 41:
		216	winkel = 656;
		217	break;
		218	case 42:
		219	winkel = 682;
		220	break;
		221	case 43:
		222	winkel = 682;
		223	break;
		224	case 44:
		225	winkel = 695;
		226	break;
		227	case 45:
		228	winkel = 707;
		229	break;
		230	case 46:
		231	winkel = 719;
		232	break;
		233	case 47:
		234	winkel = 731;
		235	case 48:
		236	winkel = 743;
		237	break;
		238	case 49:
		239	winkel = 755;
		240	break;
		241	case 50:
		242	winkel = 766;
		243	break;
		244	case 51:
		245	winkel = 777;
		246	break;
		247	case 52:
		248	winkel = 788;
		249	break;
		250	case 53:
		251	winkel = 799;
		252	break;
		253	case 54:
		254	winkel = 809;
		255	break;
		256	case 55:
		257	winkel = 819;
		258	break;
		259	case 56:
		260	winkel = 829;
		261	break;
		262	case 57:
		263	winkel = 839;
		264	break;
		265	case 58:
		266	winkel = 848;
		267	break;
		268	case 59:
		269	winkel = 857;
		270	break;
		271	case 60:
		272	winkel = 866;
		273	break;
		274	case 61:
		275	winkel = 875;
		276	break;
		277	case 62:
		278	winkel = 883;
		279	break;
		280	case 63:
		281	winkel = 891;
		282	break;
		283	case 64:
		284	winkel = 899;
		285	break;
		286	case 65:
		287	winkel = 906;
		288	break;
		289	case 66:
		290	winkel = 914;
		291	break;
		292	case 67:
		293	winkel = 921;
		294	break;
		295	case 68:
		296	winkel = 927;
		297	break;
		298	case 69:
		299	winkel = 934;
		300	break;
		301	case 70:
		302	winkel = 940;
		303	break;
		304	case 71:
		305	winkel = 946;
		306	break;
		307	case 72:
		308	winkel = 951;
		309	break;
		310	case 73:
		311	winkel = 956;
		312	break;
		313	case 74:
		314	winkel = 961;
		315	break;
		316	case 75:
		317	winkel = 966;
		318	break;
		319	case 76:
		320	winkel = 970;
		321	break;
		322	case 77:
		323	winkel = 974;
		324	break;
		325	case 78:
		326	winkel = 978;
		327	break;
		328	case 79:
		329	winkel = 982;
		330	break;
		331	case 80:
		332	winkel = 985;
		333	break;
		334	case 81:
		335	winkel = 988;
		336	break;
		337	case 82:
		338	winkel = 990;
		339	break;
		340	case 83:
		341	winkel = 993;
		342	break;
		343	case 84:
		344	winkel = 995;
		345	break;
		346	case 85:
		347	winkel = 996;
		348	break;
		349	case 86:
		350	winkel = 998;
		351	break;
		352	case 87:
		353	winkel = 999;
		354	break;
		355	case 88:
		356	winkel = 999;
		357	break;
		358	case 89:
		359	winkel = 1000;
		360	break;
		361	case 90:
		362	winkel = 1000;
		363	break;
		364	default:
		365	winkel = 0;
		366	break;
		367
		368	}
		369	return (winkel*m);
		370
		371	}
		372
		373

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