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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1612 | dongfang | 1 | #include<inttypes.h> |
| 2 | #include "attitude.h" |
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| 3 | |||
| 4 | /* |
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| 5 | * Angular unit scaling: Number of units per degree |
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| 6 | */ |
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| 7 | #define MATH_DRG_FACTOR GYRO_DEG_FACTOR_PITCHROLL |
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| 8 | |||
| 9 | /* |
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| 10 | * Fix-point decimal scaling: Number of units for 1 (so if sin(something) |
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| 11 | * returns UNIT_FACTOR * 0.8, the result is to be understood as 0.8) |
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| 12 | * a * sin(b) = (a * int_sin(b * DRG_FACTOR)) / UNIT_FACTOR |
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| 13 | */ |
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| 1775 | - | 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. |
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| 16 | // 4096 = 12 bits, square = 24 bits, 7 bits to spare. |
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| 1868 | - | 17 | #define MATH_UNIT_FACTOR_LOG 12 |
| 18 | #define MATH_UNIT_FACTOR (1L<<MATH_UNIT_FACTOR_LOG) |
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| 1612 | dongfang | 19 | |
| 20 | int16_t int_sin(int32_t arg); |
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| 21 | int16_t int_cos(int32_t arg); |
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| 22 | int16_t int_tan(int32_t arg); |