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• This comparison shows the changes necessary to convert path

  → /branches/dongfang_FC_fixedwing/dongfangMath.h @ 1910

  → /branches/dongfang_FC_fixedwing/dongfangMath.h @ 2099

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• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 1910 → Rev 2099

/branches/dongfang_FC_fixedwing/dongfangMath.h
4,7 → 4,7
/*
* Angular unit scaling: Number of units per degree
*/
#define MATH_DRG_FACTOR GYRO_DEG_FACTOR_PITCHROLL
#define MATH_DRG_FACTOR GYRO_DEG_FACTOR
/*
* Fix-point decimal scaling: Number of units for 1 (so if sin(something)
14,9 → 14,11
//#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)
#define LOG_MATH_UNIT_FACTOR 12
#define MATH_UNIT_FACTOR (1L<<LOG_MATH_UNIT_FACTOR)
int16_t int_sin(int32_t arg);
int16_t int_cos(int32_t arg);
int16_t int_tan(int32_t arg);
int16_t sin_360(int16_t arg);
int16_t cos_360(int16_t arg);
int16_t tan_360(int16_t arg);
void intervalWrap(int32_t *number, int32_t limit);