| 0,0 → 1,22 |
|---|
| #include<inttypes.h> |
| #include "attitude.h" |
| |
| /* |
| * Angular unit scaling: Number of units per degree |
| */ |
| #define MATH_DRG_FACTOR GYRO_DEG_FACTOR_PITCHROLL |
| |
| /* |
| * Fix-point decimal scaling: Number of units for 1 (so if sin(something) |
| * returns UNIT_FACTOR * 0.8, the result is to be understood as 0.8) |
| * a * sin(b) = (a * int_sin(b * DRG_FACTOR)) / UNIT_FACTOR |
| */ |
| //#define MATH_UNIT_FACTOR 8192 |
| // Changed: We want to be able to multiply 2 sines/cosines and still stay comfortably (factor 100) within 31 bits. |
| // 4096 = 12 bits, square = 24 bits, 7 bits to spare. |
| #define MATH_UNIT_FACTOR_LOG 12 |
| #define MATH_UNIT_FACTOR (1L<<MATH_UNIT_FACTOR_LOG) |
| |
| int16_t int_sin(int32_t arg); |
| int16_t int_cos(int32_t arg); |
| int16_t int_tan(int32_t arg); |