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Rev 1910 Rev 2099
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#include "attitude.h"
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#include "attitude.h"
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/*
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/*
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 * Angular unit scaling: Number of units per degree
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 * Angular unit scaling: Number of units per degree
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 */
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 */
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#define MATH_DRG_FACTOR GYRO_DEG_FACTOR_PITCHROLL
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#define MATH_DRG_FACTOR GYRO_DEG_FACTOR
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/*
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/*
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 * Fix-point decimal scaling: Number of units for 1 (so if sin(something)
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 * Fix-point decimal scaling: Number of units for 1 (so if sin(something)
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 * returns UNIT_FACTOR * 0.8, the result is to be understood as 0.8)
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 * returns UNIT_FACTOR * 0.8, the result is to be understood as 0.8)
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 * a * sin(b) = (a * int_sin(b * DRG_FACTOR)) / UNIT_FACTOR
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 * a * sin(b) = (a * int_sin(b * DRG_FACTOR)) / UNIT_FACTOR
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 */
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 */
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//#define MATH_UNIT_FACTOR 8192
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//#define MATH_UNIT_FACTOR 8192
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// Changed: We want to be able to multiply 2 sines/cosines and still stay comfortably (factor 100) within 31 bits.
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// Changed: We want to be able to multiply 2 sines/cosines and still stay comfortably (factor 100) within 31 bits.
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// 4096 = 12 bits, square = 24 bits, 7 bits to spare.
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// 4096 = 12 bits, square = 24 bits, 7 bits to spare.
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#define MATH_UNIT_FACTOR_LOG 12
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#define LOG_MATH_UNIT_FACTOR 12
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#define MATH_UNIT_FACTOR (1L<<MATH_UNIT_FACTOR_LOG)
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#define MATH_UNIT_FACTOR (1L<<LOG_MATH_UNIT_FACTOR)
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int16_t sin_360(int16_t arg);
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int16_t cos_360(int16_t arg);