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765 Commits

Author SHA1 Message Date
Andrew Tridgell 43c3c60de2 AP_Math: moved a lot of vector templates to cpp from .h 
this reduces the code size quite a lot on AVR
 2013-04-12 12:48:08 +10:00
Andrew Tridgell 78eb12a4ac AP_Math: added RadiansToCentiDegrees and RADIUS_OF_EARTH 2013-04-12 12:48:08 +10:00
Andrew Tridgell 8b119934ea AP_Math: fixed grammar error 2013-04-12 12:48:08 +10:00
Andrew Tridgell 2d29a6a7be AP_Math: added Vector2f.angle() 
useful for calculating the vector in polar coordinates
 2013-04-12 12:48:08 +10:00
tobias 217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Andrew Tridgell 091b474a1d AP_Math: added wrap_360_cd() and wrap_180_cd() 
moved from per-vehicle code
 2013-03-29 13:13:37 +11:00
Randy Mackay 7729ec950e AP_Math: longitude_scale function made public 
Added LATLON_TO_M and LATLON_TO_CM #defines
 2013-01-27 23:21:39 +09:00
Randy Mackay d2767b911c AP_Math: switch get_distance_cm to return uint32_t 
Includes changes required on ArduCopter and ArduPlane side as well
 2013-01-26 17:04:12 +09:00
James Bielman 4fa7bb1486 Add AVR compatibility header for missing math.h definitions. 
- Define float versions of math functions to the double versions
  on AVR (eg. #define sinf sin).
- These macros appear to be missing in older versions of avr-libs.
- Include AP_Math.h rather than math.h to get these definitions.
 2013-01-16 13:52:17 +11:00
James Bielman 5631f865b2 Update floating point calculations to use floats instead of doubles. 
- Allows use of hardware floating point on the Cortex-M4.
- Added "f" suffix to floating point literals.
- Call floating point versions of stdlib math functions.
 2013-01-16 13:52:01 +11:00
Andrew Tridgell 38062bbb6d AP_Math: support some more rotation combinations 2013-01-13 17:32:48 +11:00
Andrew Tridgell 374af1cd14 build: change from Arduino.mk to apm.mk 2013-01-02 17:29:37 +11:00
Andrew Tridgell eb74fddd9f AP_Math: added global GRAVITY_MSS define 2013-01-02 14:45:08 +11:00
Andrew Tridgell e7b915b0f4 AP_Math: fixed error comment 2012-12-22 12:52:42 +11:00
Andrew Tridgell d8bed0c2aa AP_Math: fixed get_distance() function 2012-12-20 14:53:23 +11:00
Andrew Tridgell a072afa223 AP_Math: expand some macros into functions 
this saves some flash
 2012-12-20 14:52:38 +11:00
Andrew Tridgell a1187519a8 AP_HAL: use AP_HAL_BOARD_DRIVER in remaining test sketches 2012-12-20 14:52:37 +11:00
Andrew Tridgell a76688e630 Math: fixed example warnings 2012-12-20 14:52:36 +11:00
Pat Hickey eb530b86e8 move Arduino.mk to /mk/Arduino.mk 2012-12-20 14:52:35 +11:00
Andrew Tridgell 7d27e420ae AP_HAL: remove unnecessary Arduino.h includes 2012-12-20 14:52:30 +11:00
Pat Hickey 475da4eca4 CONFIG_HAL_BOARD - test sketches fixed up, build all passes 2012-12-20 14:51:37 +11:00
Pat Hickey a4f1f6a5db AP_Progmem: fix dependencies for all sketches touched by AP_HAL_AVR 2012-12-20 14:51:28 +11:00
Pat Hickey 7dbe198e5c AP_Math: port to work on coreless arduino (AP_HAL) 2012-12-20 14:51:24 +11:00
Pat Hickey 3f1d9d7f69 AP_Param: #include <AP_Param.h> fixups for libraries & sketches 
* I mostly went through with grep and added an #include <AP_Param.h> below
  every #include <AP_Common.h>. Not all of these example sketches might
  strictly need AP_Param.
 2012-12-20 14:51:19 +11:00
rmackay9 56f88821e9 AP_AHRS: fix example sketch 
AP_Airspeed: fix example sketch
AP_Baro: fix example sketch
AP_Declination: fix example sketch
AP_Math: fix example sketch
 2012-11-08 00:08:18 +09:00
rmackay9 3fd07805a7 AP_Math: added rotation method accuracy test to example sketch 2012-11-04 13:05:37 +09:00
rmackay9 d6324b3964 AP_Math: fix compile errors example sketches 2012-11-04 11:55:59 +09:00
uncrustify 652b490345 uncrustify libraries/AP_Math/vector2.h 2012-08-21 19:03:34 -07:00
uncrustify 97994a4e3a uncrustify libraries/AP_Math/AP_Math.h 2012-08-21 19:03:34 -07:00
uncrustify 7e19ae5868 uncrustify libraries/AP_Math/matrix3.h 2012-08-21 19:03:34 -07:00
uncrustify 9bb0b42f28 uncrustify libraries/AP_Math/rotations.h 2012-08-21 19:03:34 -07:00
uncrustify 57d4db2be4 uncrustify libraries/AP_Math/vector3.h 2012-08-21 19:03:34 -07:00
uncrustify d50c606c97 uncrustify libraries/AP_Math/quaternion.h 2012-08-21 19:03:34 -07:00
uncrustify 9ccb38260d uncrustify libraries/AP_Math/polygon.h 2012-08-21 19:03:34 -07:00
uncrustify 533860dd73 uncrustify libraries/AP_Math/AP_Math.cpp 2012-08-21 19:03:34 -07:00
uncrustify b5bee9deff uncrustify libraries/AP_Math/polygon.cpp 2012-08-21 19:03:34 -07:00
uncrustify a208fbb2d9 uncrustify libraries/AP_Math/vector3.cpp 2012-08-21 19:03:34 -07:00
uncrustify 424baf3f29 uncrustify libraries/AP_Math/quaternion.cpp 2012-08-21 19:03:33 -07:00
uncrustify d6e803fd3c uncrustify libraries/AP_Math/matrix3.cpp 2012-08-21 19:03:33 -07:00
uncrustify 64eaadb332 uncrustify libraries/AP_Math/location.cpp 2012-08-21 19:03:33 -07:00
uncrustify d0d401581f uncrustify libraries/AP_Math/examples/location/location.pde 2012-08-21 19:03:33 -07:00
uncrustify 52dbb56bf0 uncrustify libraries/AP_Math/examples/rotations/rotations.pde 2012-08-21 19:03:33 -07:00
uncrustify 87c263fbb9 uncrustify libraries/AP_Math/examples/polygon/polygon.pde 2012-08-21 19:03:33 -07:00
uncrustify 86627c9a9d uncrustify libraries/AP_Math/examples/eulers/eulers.pde 2012-08-21 19:03:33 -07:00
Andrew Tridgell 6300fa7399 math: more abs() fixes 
abs() is 16 bit
 2012-08-16 15:17:42 +10:00
Jason Short a66e43aff1 Location Lib : Abs was overflowing causing bad comparison 2012-08-15 22:01:51 -07:00
Jason Short ff38dadd00 Location Lib. Potential fix for bad angle and distance calcs. 
last_lat changed to int32_t since it can be negative.
 2012-08-15 21:36:55 -07:00
Andrew Tridgell 0ba57d05eb AP_Math: added matrix column extraction functions 2012-08-11 22:06:02 +10:00
Andrew Tridgell 87fca1985f AP_Math: added location_update() and location_offset() functions 
these will be used by AHRS dead reckoning
 2012-08-11 11:56:54 +10:00
Andrew Tridgell 2a7b298bbc MAVLink: moved mavlink variables back to library 
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
 2012-08-09 12:06:21 +10:00
Andrew Tridgell 8ae35cae1c AP_Math: rename get_bearing() to get_bearing_cd() to make units obvious 2012-08-08 12:12:30 +10:00
Andrew Tridgell a72f6acef6 AP_Math: added get_distance_cm() to return in centimeters 2012-07-11 07:49:05 +10:00
Andrew Tridgell 1cd8c54f21 AP_Math: cope with co-located waypoints in location_passed_point() 2012-07-04 14:24:04 +10:00
Andrew Tridgell 468dfe3faa AP_Math: the windows arduino build is missing acosf() 2012-07-04 14:14:58 +10:00
Andrew Tridgell 0bdce404a5 AP_Math: add include of math.h 
this is needed for location.cpp
 2012-07-04 13:59:23 +10:00
Andrew Tridgell dd200cba31 Math: added location functions to math library 
these do common calculations on struct Location
 2012-07-04 12:42:46 +10:00
Andrew Tridgell fe865bc1dc Math: added comment 2012-06-27 16:01:49 +10:00
Andrew Tridgell c30b0d85a3 Math: moved more template functions to the .cpp files 
save a bit more code space for larger functions
 2012-06-27 16:01:49 +10:00
Andrew Tridgell 22ff8cb197 examples: fixed build of some examples with new AP_Declination code 2012-03-30 14:25:27 +11:00
Andrew Tridgell a6d66dc45b Math: added mul_transpose() operation 
this is equivalent to multiplying by m.transposed(), but is more
efficient
 2012-03-23 16:48:52 +11:00
Andrew Tridgell fe55a76335 Math: moved matrix multiple operations to .cpp file 
this means we only link this in once, rather than for every use of
matrix multiply, which saves us some flash space

We need to be careful not to put large pieces of code in template
headers, as if the operation is used a lot, it costs us a lot of code
space
 2012-03-21 10:43:48 +11:00
Andrew Tridgell 17fbb8ea26 Math: fixed the build of the eulers test in SITL 2012-03-21 10:41:55 +11:00
Andrew Tridgell 17f7292fe9 Math: added a test for the rotate() method 2012-03-19 17:29:02 +11:00
Andrew Tridgell c16b353ea7 Math: added rotate() method to Matrix3f 
this is the core method used to update the DCM matrix with a gyro
vector. Moving it to AP_Math allows us to have a test for it
 2012-03-19 17:29:02 +11:00
Andrew Tridgell 31e566475b Math: added zero() and identity() methods to Matrix3f 2012-03-19 17:29:02 +11:00
Andrew Tridgell d948a28e7c Math: change signs in quaternion library 
thanks to Justin for the suggestion
 2012-03-19 17:29:02 +11:00
Andrew Tridgell af9ce0cfc9 Math: allow eulers test to build with AP_Declination library 2012-03-19 17:29:02 +11:00
Andrew Tridgell 72a761170b Math: fixed build of eulers test on SITL 2012-03-19 17:29:02 +11:00
Andrew Tridgell 58a68c89d9 Math: added a function to combine standard rotations 
this will allow us to have an overall board rotation plus a per-sensor
rotation
 2012-03-19 17:29:02 +11:00
Andrew Tridgell 0ec9857689 Math: any euler angle with pitch > 90 is invalid 
both DCM and quaternion always return pitch in the range -90 to 90
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 4d3789d11c AP_Math: update the test suite 2012-03-11 15:37:07 +11:00
Andrew Tridgell 4422486d44 AP_Math: made rotation matrices more C++ 
thanks to Adam for the suggestion
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 5c6368bad3 AP_Math: allow null pointers in Quaternion::to_euler() 
this matches the Matrix3f method
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 9f0cb78f08 AP_Math: re-work quaternion functions to be more C++ like 
thanks to Adam for the suggestion!
 2012-03-11 15:37:07 +11:00
Andrew Tridgell 55aa43a70d Math: added a test suite for the new rotation methods 2012-03-11 15:37:07 +11:00
Andrew Tridgell 289c64c0b9 Math: added vector3.rotate() and matrix3.rotation() methods 
these operate on a "enum Rotation" which defines a set of standard
rotations. These are much faster than our previous method, plus use
less memory
 2012-03-11 15:37:07 +11:00
Andrew Tridgell a92fb67b70 AP_Math: expanded the math test suite 2012-03-10 10:34:31 +11:00
Andrew Tridgell 4d65cda0ea AP_Math: added quaternion->matrix and earth frame routines 
this will be used for 3d acceleration
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 8abbbe5713 AP_Math: better way of handling safe_sqrt() 
better to test the result, than predict it
 2012-03-10 10:34:31 +11:00
Andrew Tridgell 1ec4c0777c Math: added comment on quaternion constructor 2012-03-10 10:34:30 +11:00
Andrew Tridgell f5e6dc0757 Math: added is_inf() on vector3f 2012-03-10 10:34:30 +11:00
Andrew Tridgell c7d5f06b21 AP_Math: added quaternion helper functions and a test suite 2012-03-10 10:34:30 +11:00
Andrew Tridgell 145fc91701 AP_Math: added a .zero() method to Vector3f 2012-03-10 10:34:28 +11:00
Andrew Tridgell 16ed8bc8f6 AP_Math: added rotmat <-> euler functions 
these will make the dcm matrix manipulation easier to understand
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 17d16bc8c6 AP_Math: added safe_sqrt() function 
this function will never return NAN. It will return zero for negative
numbers.
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 502fbf6e17 AP_Math: added a safe_asin() function 
this adds range checking to asin()
 2012-02-24 11:52:55 +11:00
Andrew Tridgell 17170da96e AP_Math: added is_nan() methods to vector3f and matrix3f 2012-02-24 11:52:55 +11:00
Andrew Tridgell 882cd4ea83 AP_Param: moved AP_Vector3f and AP_Matrix3f declarations to AP_Math.h 
this avoids us needing AP_Math.h in every utility sketch and example
 2012-02-18 10:51:57 +11:00
Andrew Tridgell 11b8d56434 added comment in polygon code 2011-12-21 23:31:38 +11:00
Andrew Tridgell e7568db237 fixed comment 2011-12-19 20:52:59 +11:00
Andrew Tridgell 6efa2e53cb AP_Math: re-work polygon algorithm for perfect precision 
using sign checking and 64 bit integer math only when needed results
in an algorithm that is just as fast as the floating point version,
but has perfect results for any representable lat/lng
 2011-12-19 18:52:56 +11:00
Andrew Tridgell a3a0e5646f polygon: improve the speed and precision of the polygon algorithm 
now takes 156 usec per test, with a 11 point boundary
 2011-12-18 12:59:50 +11:00
Andrew Tridgell 42522baf9f geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell 9b6bab8904 AP_Math: better polygon algorithm 
this one seems to do better with single precision floating point
 2011-12-16 20:11:51 +11:00
Andrew Tridgell 62e92f406e AP_Math: make out vector and matrix elements used types with fixed sizes 
this prevents differences between CPU types
 2011-12-16 20:09:11 +11:00
Andrew Tridgell 85e295332f AP_Math: added Polygon_complete() function 
used to veryify user supplied boundaries
 2011-12-15 14:42:34 +11:00
Andrew Tridgell 117a98f9a2 AP_Math: added a Polygon_outside() function 
this tests if a point is outside of a polygon. This will be used as
part of our geo-fencing support, and also for a new 'fenced mode'
 2011-12-15 14:34:58 +11:00
James Goppert 0c7c508541 Optional recursion added. 2011-09-30 17:17:51 -04:00
James Goppert 5489b84f8e Improvements to cmake. 2011-09-29 21:23:26 -04:00
James Goppert d887a28b91 Added ArduBoat/ ArduRover/ and APO library. 2011-09-29 14:12:15 -04:00
unknown a4e001bbcf Adding CMake support 2011-09-14 15:44:55 +02:00
jasonshort 7521ceed61 Vector3<T>() { x = y = x = 0; } 
changed to :
	Vector3<T>() { x = y = z = 0; }

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2600 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-20 16:31:31 +00:00
DrZiplok@gmail.com f10cbb011f ::transposed does not change the matrix; make it const. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1648 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-14 04:26:05 +00:00
DrZiplok@gmail.com 75e78dabae Back out the memset optimisation. It helps with code size but causes inexplicable link-time failures (undefined references to __cxa_pure_virtual). 
Thank you very much Mr GCC.  Can I have my evening back?


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1352 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-29 03:09:29 +00:00
DrZiplok@gmail.com 290635b354 Minor code size optimisation; use memset to zero *this rather than explicitly assigning zero to the vector elements. Still not quite optimal for matrix3 as it gets three memsets, but still cheaper in terms of code size. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1212 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-20 01:52:23 +00:00
rmackay9@yahoo.com e930dacb4d AP_Math - initialise vector2 and vector3 x,y,z values to zero. Doug found (and I confirmed) that if vectors or matrices were declared in a function (i.e. a local variable), they would often have non-zero values. Global declarations don't have this problem - it's a C++ performance thing it seems. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@878 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-22 02:29:15 +00:00
rmackay9@yahoo.com 8708675b1f added constructor with 9 elements to matrix3.h 
corrected matrix * vector function.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@551 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-25 02:43:11 +00:00
DrZiplok@gmail.com 7721e622aa Rather than subclassing from the templated classes, just typedef directly to them. 
This should solve the issues related to assigning to the convenience types.


git-svn-id: https://arducopter.googlecode.com/svn/trunk@543 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-23 05:45:43 +00:00
rmackay9@yahoo.com 15e6469ca9 added downcasting to MATRIX3_CTORS. this fixes some problems with setting the results from a formula to a variable (i..e m1 = m2*2). 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@541 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-23 05:39:50 +00:00
rmackay9@yahoo.com b3e1b6c57d minor corrections to the operator *= and constructor so that matrix can be more easily created from vector objects 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@540 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-23 03:14:15 +00:00
DrZiplok@gmail.com ac2e14c4ec Remove a bunch of probably wrong const cruft. Ditch the dubious array index operators from vector2. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@538 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-22 17:41:49 +00:00
DrZiplok@gmail.com 815e5f871a Remove the trivial operator= implementations, the default shallow copy is fine. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@537 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-22 16:32:38 +00:00
DrZiplok@gmail.com 646045ef44 Some minor fixes prompted while looking at the code for other reasons. 
Return non-const values from assignment.  Fix operator* for matrix3.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@536 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-22 16:15:26 +00:00
DrZiplok@gmail.com b918f21567 Replace the questionable rotation operation with a conventional transposition. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@442 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-08 08:41:29 +00:00
DrZiplok@gmail.com 097161cd8d Beginnings of a math library for ArduPilot(Mega) systems. 
The vector classes are light adaptations of work by Bill Perone
(billperone@yahoo.com), the Matrix3 class draws on them for
inspiration.

Bill's matrix classes are too heavyweight and not templated, so
they're less suitable for us here.

This code compiles, and some trivial tests seem to work, but
it should not be considered "golden" yet.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@441 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-08 08:21:46 +00:00