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AP_Math: remove HAL_CPU_CLASS_16

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Tom Pittenger 2017-04-12 15:40:53 -07:00 committed by Tom Pittenger
parent 1e84e07edc
commit 1abeb03d2b
1 changed files with 0 additions and 16 deletions
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16
libraries/AP_Math/location.cpp
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@ -26,24 +26,8 @@
float longitude_scale(const struct Location &loc) float longitude_scale(const struct Location &loc)
{ {
#if HAL_CPU_CLASS < HAL_CPU_CLASS_150
static int32_t last_lat;
static float scale = 1.0;
// don't optimise on faster CPUs. It causes some minor errors on Replay
if (labs(last_lat - loc.lat) < 100000) {
// we are within 0.01 degrees (about 1km) of the
// same latitude. We can avoid the cos() and return
// the same scale factor.
return scale;
}
scale = cosf(loc.lat * 1.0e-7f * DEG_TO_RAD);
scale = constrain_float(scale, 0.01f, 1.0f);
last_lat = loc.lat;
return scale;
#else
float scale = cosf(loc.lat * 1.0e-7f * DEG_TO_RAD); float scale = cosf(loc.lat * 1.0e-7f * DEG_TO_RAD);
return constrain_float(scale, 0.01f, 1.0f); return constrain_float(scale, 0.01f, 1.0f);
#endif
} }