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AP_Declination: example fix travis warning 

missing function declaration
implicit cast
some style fix
This commit is contained in:
Pierre Kancir 2017-04-13 13:30:29 +02:00 committed by Francisco Ferreira
parent d3e27d8720
commit 7fb816c812
1 changed files with 23 additions and 30 deletions
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53
libraries/AP_Declination/examples/AP_Declination_test/AP_Declination_test.cpp
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@ -8,6 +8,9 @@
#include <AP_Buffer/AP_Buffer.h> #include <AP_Buffer/AP_Buffer.h>
#include <Filter/Filter.h> #include <Filter/Filter.h>
void setup();
void loop();
const AP_HAL::HAL& hal = AP_HAL::get_HAL(); const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static const int16_t dec_tbl[37][73] = \ static const int16_t dec_tbl[37][73] = \
@ -53,54 +56,44 @@ static const int16_t dec_tbl[37][73] = \
static float get_declination(float lat, float lon) static float get_declination(float lat, float lon)
{ {
int16_t decSW, decSE, decNW, decNE, lonmin, latmin;
float decmin, decmax;
uint8_t latmin_index, lonmin_index;
// Validate input values // Validate input values
lat = constrain_float(lat, -90, 90); lat = constrain_float(lat, -90, 90);
lon = constrain_float(lon, -180, 180); lon = constrain_float(lon, -180, 180);
latmin = floor(lat/5)*5; const int16_t latmin = floor(lat / 5) * 5;
lonmin = floor(lon/5)*5; const int16_t lonmin = floor(lon / 5) * 5;
latmin_index= (90+latmin)/5; const uint8_t latmin_index = (90 + latmin) / 5;
lonmin_index= (180+lonmin)/5; const uint8_t lonmin_index = (180 + lonmin) / 5;
decSW = dec_tbl[latmin_index][lonmin_index]; const int16_t decSW = dec_tbl[latmin_index][lonmin_index];
decSE = dec_tbl[latmin_index][lonmin_index+1]; const int16_t decSE = dec_tbl[latmin_index][lonmin_index + 1];
decNE = dec_tbl[latmin_index+1][lonmin_index+1]; const int16_t decNE = dec_tbl[latmin_index+1][lonmin_index + 1];
decNW = dec_tbl[latmin_index+1][lonmin_index]; const int16_t decNW = dec_tbl[latmin_index+1][lonmin_index];
decmin = (lon - lonmin) / 5 * (decSE - decSW) + decSW; const float decmin = (lon - lonmin) / 5 * (decSE - decSW) + decSW;
decmax = (lon - lonmin) / 5 * (decNE - decNW) + decNW; const float decmax = (lon - lonmin) / 5 * (decNE - decNW) + decNW;
return (lat - latmin) / 5 * (decmax - decmin) + decmin; return (lat - latmin) / 5 * (decmax - decmin) + decmin;
} }
void setup(void) void setup(void)
{ {
float declination, declination_test;
uint16_t pass = 0, fail = 0; uint16_t pass = 0, fail = 0;
uint32_t total_time=0; uint32_t total_time = 0;
hal.console->printf("Beginning Test. Please wait...\n"); hal.console->printf("Beginning Test. Please wait...\n");
for(int16_t i = -90; i <= 90; i+=5) for (int16_t i = -90; i <= 90; i += 5) {
{ for (int16_t j = -180; j <= 180; j += 5) {
for(int16_t j = -180; j <= 180; j+=5)
{
uint32_t t1 = AP_HAL::micros(); uint32_t t1 = AP_HAL::micros();
declination = AP_Declination::get_declination(i, j); const float declination = AP_Declination::get_declination(i, j);
total_time += AP_HAL::micros() - t1; total_time += AP_HAL::micros() - t1;
declination_test = get_declination(i, j); const float declination_test = get_declination(i, j);
if(declination == declination_test) if (is_equal(declination, declination_test)) {
{ hal.console->printf("Pass: %i, %i : %f, %f\n", i, j, (double)declination, (double)declination_test);
//Serial.printf("Pass: %i, %i : %f, %f\n", i, j, declination, declination_test);
pass++; pass++;
} } else {
else hal.console->printf("FAIL: %i, %i : %f, %f\n", i, j, (double)declination, (double)declination_test);
{
hal.console->printf("FAIL: %i, %i : %f, %f\n", i, j, declination, declination_test);
fail++; fail++;
} }
} }
@ -109,7 +102,7 @@ void setup(void)
hal.console->printf("Total Pass: %i\n", pass); hal.console->printf("Total Pass: %i\n", pass);
hal.console->printf("Total Fail: %i\n", fail); hal.console->printf("Total Fail: %i\n", fail);
hal.console->printf("Average time per call: %.1f usec\n", hal.console->printf("Average time per call: %.1f usec\n",
total_time/(float)(pass+fail)); (double)(total_time / (float)(pass + fail)));
} }
void loop(void) void loop(void)