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Copter: Jason's faster cos_yaw, sin_yaw

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Randy Mackay 2013-04-02 15:50:29 +09:00
parent 5bf55a9523
commit 3bf847f675
1 changed files with 7 additions and 12 deletions
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19
ArduCopter/ArduCopter.pde
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@ -521,8 +521,6 @@ static uint8_t rtl_state;
// The cos values are defaulted to 1 to get a decent initial value for a level state // The cos values are defaulted to 1 to get a decent initial value for a level state
static float cos_roll_x = 1; static float cos_roll_x = 1;
static float cos_pitch_x = 1; static float cos_pitch_x = 1;
static float cos_yaw_x = 1;
static float sin_yaw_y = 1;
static float cos_yaw = 1; static float cos_yaw = 1;
static float sin_yaw = 1; static float sin_yaw = 1;
static float sin_roll = 1; static float sin_roll = 1;
@ -1361,7 +1359,7 @@ static void update_optical_flow(void)
// if new data has arrived, process it // if new data has arrived, process it
if( optflow.last_update != last_of_update ) { if( optflow.last_update != last_of_update ) {
last_of_update = optflow.last_update; last_of_update = optflow.last_update;
optflow.update_position(ahrs.roll, ahrs.pitch, cos_yaw_x, sin_yaw_y, current_loc.alt); // updates internal lon and lat with estimation based on optical flow optflow.update_position(ahrs.roll, ahrs.pitch, sin_yaw, cos_yaw, current_loc.alt); // updates internal lon and lat with estimation based on optical flow
// write to log at 5hz // write to log at 5hz
of_log_counter++; of_log_counter++;
@ -2027,21 +2025,18 @@ static void update_trig(void){
// which it does do in avr-libc // which it does do in avr-libc
cos_roll_x = constrain(cos_roll_x, -1.0, 1.0); cos_roll_x = constrain(cos_roll_x, -1.0, 1.0);
sin_yaw_y = yawvector.x; // 1y = north sin_yaw = constrain(yawvector.y, -1.0, 1.0);
cos_yaw_x = yawvector.y; // 0x = north cos_yaw = constrain(yawvector.x, -1.0, 1.0);
// added to convert earth frame to body frame for rate controllers // added to convert earth frame to body frame for rate controllers
sin_pitch = -temp.c.x; sin_pitch = -temp.c.x;
sin_roll = temp.c.y / cos_pitch_x; sin_roll = temp.c.y / cos_pitch_x;
sin_yaw = constrain(temp.b.x/cos_pitch_x, -1.0, 1.0);
cos_yaw = constrain(temp.a.x/cos_pitch_x, -1.0, 1.0);
//flat: //flat:
// 0 ° = cos_yaw: 0.00, sin_yaw: 1.00, // 0 ° = cos_yaw: 1.00, sin_yaw: 0.00,
// 90° = cos_yaw: 1.00, sin_yaw: 0.00, // 90° = cos_yaw: 0.00, sin_yaw: 1.00,
// 180 = cos_yaw: 0.00, sin_yaw: -1.00, // 180 = cos_yaw: -1.00, sin_yaw: 0.00,
// 270 = cos_yaw: -1.00, sin_yaw: 0.00, // 270 = cos_yaw: 0.00, sin_yaw: -1.00,
} }
// read baro and sonar altitude at 10hz // read baro and sonar altitude at 10hz