Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1910 | - | 1 | #include<inttypes.h> |
| 2 | #include "attitude.h" |
||
| 3 | |||
| 4 | /* |
||
| 5 | * Angular unit scaling: Number of units per degree |
||
| 6 | */ |
||
| 7 | #define MATH_DRG_FACTOR GYRO_DEG_FACTOR_PITCHROLL |
||
| 8 | |||
| 9 | /* |
||
| 10 | * Fix-point decimal scaling: Number of units for 1 (so if sin(something) |
||
| 11 | * returns UNIT_FACTOR * 0.8, the result is to be understood as 0.8) |
||
| 12 | * a * sin(b) = (a * int_sin(b * DRG_FACTOR)) / UNIT_FACTOR |
||
| 13 | */ |
||
| 14 | //#define MATH_UNIT_FACTOR 8192 |
||
| 15 | // Changed: We want to be able to multiply 2 sines/cosines and still stay comfortably (factor 100) within 31 bits. |
||
| 16 | // 4096 = 12 bits, square = 24 bits, 7 bits to spare. |
||
| 17 | #define MATH_UNIT_FACTOR_LOG 12 |
||
| 18 | #define MATH_UNIT_FACTOR (1L<<MATH_UNIT_FACTOR_LOG) |
||
| 19 | |||
| 20 | int16_t int_sin(int32_t arg); |
||
| 21 | int16_t int_cos(int32_t arg); |
||
| 22 | int16_t int_tan(int32_t arg); |