Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
43,577 Commits 71 Branches 508 Tags 630 MiB
Commit Graph

562 Commits

Author SHA1 Message Date
Daniel Ricketts 249d95b413 AP_Math: add Polygon_outside and Polygon_complete functions 2016-06-25 15:55:55 +09:00
Leonard Hall e0eecd56b2 AP_Math: use is_zero and float constants 2016-06-24 16:16:34 +09:00
Leonard Hall 7f933140c7 AP_Math: small formatting fix to quaternion rotation_matrix 
No functional change
 2016-06-24 16:16:33 +09:00
Leonard Hall 8afd29cc85 AP_Math: add quaternion::rotation_matrix_norm 2016-06-24 16:16:28 +09:00
Pierre Kancir a8e5ff93b5 AP_Math: Correct missing declaration warning 2016-06-21 12:17:46 -03:00
Tom Pittenger 00aaa78757 AP_Math: add separate check_lat() and check_lng() 2016-06-06 13:02:56 -07:00
Andrew Tridgell 3969bde84a AP_Math: fixed coverity warning in example 2016-06-05 07:20:46 +10:00
Peter Barker cb16d0b6c6 AP_Math: correct examples build on px4 2016-06-04 12:31:36 -03:00
Tom Pittenger 7b4c503052 AP_Math: use new check_latlng helper 2016-06-01 17:38:48 -07:00
Tom Pittenger ce9ecf9f3d AP_Math: added check_latlng helper 2016-06-01 17:38:48 -07:00
Gustavo Jose de Sousa ef61096e08 AP_Math: geodesic_grid tool: show triangle number for sections too 2016-05-18 13:28:52 -03:00
Gustavo Jose de Sousa a6deb65d95 AP_Math: geodesic_grid tool: add option --section 2016-05-18 13:28:52 -03:00
Lucas De Marchi 1ac712fa65 AP_Math: fix is_zero() after template conversion 2016-05-17 15:49:29 -07:00
Lucas De Marchi fa6f2c6b67 AP_Math: fix some coding style mistakes 
- fix alignement of &
    - remove const from bool arguments
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 390b196eda AP_Math: AP_GeodesicGrid: add notice for auto generated code 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa b3068baa11 AP_Math: add geodesic_grid toolset 
That was used to aid development AP_GeodesicGrid and understanding its
concepts.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 9d34b3b996 AP_Math: AP_GeodesicGrid: make all methods static 
Since all members are.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 3b05ec1157 AP_Math: make vectors and matrix constructors constexpr 
That allows some object to be constructed at compile time.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 77223a7fcb AP_Math: AP_GeodesicGrid: make data static 
That gives the change of storing that data in flash storage in some
architectures. That doesn't happen yet though, some extra changes are required
for that to happen.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa fd2428db34 AP_Math: AP_GeodesicGrid: reduce number of _neighbor_umbrellas items 
Only the first half is necessary. The values for the other half can be derived.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 43d9e00ab7 AP_Math: AP_GeodesicGrid: use uint8_t for _neighbor_umbrellas 
All integers there are limited to the range [0,20), so uint8_t is enough.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 54889e4175 AP_Math: AP_GeodesicGrid: reduce number of inverses by half 
We don't actually need all of them, since the second half is for the opposite
triangles. In that case we just need to negate the resulting vector when
changing basis.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa f31161ecb6 AP_Math: AP_GeodesicGrid: remove triangles 
There's no need to keep those triangles, since we just need the inverses.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa b34c04a4f9 AP_Math: test_geodesic_grid: test also non-centroid vectors 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 8e8ab3af96 AP_Math: AP_GeodesicGrid: remove section_triangle() function 
That function was only being used by the unit tests and the benchmark. In order
to remove memory usage, the triangles will be removed, since we don't actually
need to keep them in real situations. Thus, this patch removes that function
and copy those triangles to the test and benchmark.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa c7eb46fae2 AP_Math: AP_GeodesicGrid: optimize _from_neighbor_umbrella() 
This is the second optimization. With that we don't have to iterate over the
umbrella's components.

The table below summarizes the mean CPU time in ns from the brenchmark results
on an Intel(R) Core(TM) i7-3520M CPU @ 2.90GHz processor:

       | Naive implementation | First Optimization | Second Optimization
------------------------------------------------------------------------
Min.   |                 26.0 |              28.00 |                26.0
1st Qu.|                 78.0 |              48.75 |                39.0
Median |                132.0 |              57.00 |                41.0
Mean   |                130.1 |              61.20 |                41.6
3rd Qu.|                182.2 |              76.00 |                47.0
Max.   |                234.0 |              98.00 |                54.0
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa eb90ef23a1 AP_Math: AP_GeodesicGrid: fix algorithm for null vector 
If v is the null vector, then alpha * v is still the null vector for any alpha
as a real number. That means that the null vector doesn't cross any section.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa c28c3265c8 AP_Math: AP_GeodesicGrid: optimize with neighbor umbrellas 
This is a first optimization of the algorithm. The struct for the neighbor
umbrella has only one member, but new members will be added in the next
optimization.

The table below summarizes the mean CPU time in ns from the brenchmark results
on an Intel(R) Core(TM) i7-3520M CPU @ 2.90GHz processor:

Cases  | Naive implementation | First Optimization
--------------------------------------------------
Min.   |                 26.0 |              28.00
1st Qu.|                 78.0 |              48.75
Median |                132.0 |              57.00
Mean   |                130.1 |              61.20
3rd Qu.|                182.2 |              76.00
Max.   |                234.0 |              98.00

This optimization reduces the mean time for the worst case (Max. line) by more
than 50%.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 0ff05b7af3 AP_Math: test_geodesic_grid: test triangles indexes 
That helps figuring out which intermediate step failed the high level call.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 4398e1e49b AP_Math: AP_GeodesicGrid: change order of triangles 
- Change the order of the icosahedron triangles so that there's a uniform way of
finding the opposite triangle. The order visually still makes sense.

 - Change test to accommodate the order change.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa ea412ad629 AP_Math: benchmark_geodesic_grid: add benchmark 
That will help to benchmark improvements on the section search algorithm.
 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa 797a2da031 AP_Math: test_geodesic_grid: test when inclusive=true 2016-05-16 19:08:36 -03:00
Gustavo Jose de Sousa b299261ad4 AP_Math: AP_GeodesicGrid: add first implementation 
The search for the geodesic section is still naive in this version.
Additionally, add unit tests.
 2016-05-16 19:08:35 -03:00
Gustavo Jose de Sousa 3f2ad764ca AP_Math: Matrix3: add inverse() and invert() functions 
Additionally, add unit tests.
 2016-05-16 19:08:35 -03:00
Gustavo Jose de Sousa 06eea2838f AP_Math: Matrix3: add det() function 
Function to calculate determinant. Additionally, add unit tests.
 2016-05-16 19:08:35 -03:00
Gustavo Jose de Sousa 26959f1448 AP_Math: define golden ratio constant 2016-05-16 19:08:35 -03:00
dgrat 7ff8004f8f AP_Math: Replace is_zero() with a template function 
This function only makes sense for floating point types. However this
function was also used for ints.
 2016-05-16 19:08:35 -03:00
Ricardo de Almeida Gonzaga 481e3a2af6 AP_Math: Fix typos 2016-05-13 19:20:06 -03:00
Lucas De Marchi aa974399d0 AP_Math: use inline wrappers for constrain_* functions 
This avoids some warnings about "constrain_float defined but not used"
in some compilers.
 2016-05-11 22:51:19 -03:00
Lucas De Marchi bd6e268122 AP_Math: fix coding style 
- cleanup whitespace
  - function reorder
  - fix brace position
 2016-05-10 11:41:26 -03:00
Lucas De Marchi 1dbffef7ea AP_Math: remove trailing whitespace on headers 2016-05-10 11:41:26 -03:00
Lucas De Marchi ab1fa4b435 AP_Math: reorganize headers 
Sort and add pragma once where needed.
 2016-05-10 11:41:26 -03:00
dgrat 6d3b491c02 AP_Math: Replace is_equal with a type safe template function 
It makes sense to consider also other floating point types.
 2016-05-10 11:41:26 -03:00
dgrat 503867b7dc AP_Math: Replace safe_sqrt() by template function 2016-05-10 11:41:26 -03:00
dgrat 5deb0e8e03 AP_Math: Replace safe_asin() by template function 2016-05-10 11:41:26 -03:00
Lucas De Marchi 846b4927ec AP_Math: use if/else chain instead of 2 ternary operators 2016-05-10 11:41:26 -03:00
dgrat 174f899a29 AP_Math: Replace the constrain_* functions by a single template 
Besides being simpler this reduces ~4k in the binary size for PX4.
 2016-05-10 11:41:26 -03:00
Lucas De Marchi 348b07609c AP_Math: remove macros from unit tests 
Avoid warnings like:

[2130/2168] Compiling libraries/AP_Math/tests/test_math.cpp
../../libraries/AP_Math/tests/test_math.cpp: In member function ‘virtual void MathTest_IsZero_Test::TestBody()’:
../../libraries/AP_Math/tests/test_math.cpp:73:196: warning: converting ‘false’ to pointer type for argument 1 of ‘char
testing::internal::IsNullLiteralHelper(testing::internal::Secret*)’ [-Wconversion-null]
../../libraries/AP_Math/tests/test_math.cpp:74:199: warning: converting ‘false’ to pointer type for argument 1 of ‘char
testing::internal::IsNullLiteralHelper(testing::internal::Secret*)’ [-Wconversion-null]

Use EXPECT_TRUE() and EXPECT_FALSE() from gtest instead.
 2016-05-10 11:41:26 -03:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
Lucas De Marchi 880f130670 AP_Math: fix loss of precision on float addition 
When using wrap_180_cd() we are adding a small float (180 * 100) to a
possibly big number. This may lose float precision as illustrated by the
unit test failing:

    OUT: ../../libraries/AP_Math/tests/test_math.cpp:195: Failure
    OUT: Value of: wrap_180_cd(-3600000000.f)
    OUT:   Actual: -80
    OUT: Expected: 0.f
    OUT: Which is: 0
 2016-05-10 11:41:26 -03:00
dgrat 76362caee0 AP_Math: Replace wrap_* functions with template versions 2016-05-10 11:41:26 -03:00
dgrat 49cfd6fd9b AP_Math: Add gtest support for some functions 
These functions (or variants thereof) now have unit tests:

  - is_zero()
  - is_equal()
  - sq()
  - pythagorous()
  - constrain()
  - wrap_180()
  - wrap_360()

Some tests in wrap_180_cd are failing: -180 should be wrapped to 180,
not -180.
 2016-05-10 11:41:26 -03:00
Lucas De Marchi ceea7540fd AP_Math: rename test file 
This will be reused for more math tests.
 2016-05-10 11:41:26 -03:00
Gustavo Jose de Sousa b594b5a08b AP_Math: matrix_alg: disable FE_OVERFLOW in inverse4x4() for SITL 
There are occasional overflows on the determinant calculation in inverse4x4()
when using calibration SITL model.
 2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa a7543d369f AP_Math: matrix_alg: protect inverseixi() against overflow 
Fail on inverse3x3() and inverse4x4() if there's float overflow during the
determinant calculation.
 2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa 39f72610e2 AP_Math: quaternion: fix style 
Remove trailing spaces and run astyle.
 2016-05-10 16:16:37 +10:00
Andrew Tridgell e8142b0b5b AP_Math: added wrap_360() 2016-05-07 18:27:21 +10:00
Andrew Tridgell 97d27ce58f AP_Math: fixed memory leak 
found by coverity
 2016-04-26 16:41:44 +10:00
Andrew Tridgell 6165c42535 AP_Math: added from_axis_angle() method on Matrix3f 
for arbitrary rotations in simulator
 2016-04-22 10:28:15 +10:00
Michael du Breuil bb7cf6c0b6 AP_Math: Update location_sanitize to sanitize for lat/lng 2016-04-17 19:00:03 -07:00
Ricardo de Almeida Gonzaga 5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
Andrew Tridgell 6bff07397e AP_Math: added linear_interpolate() function 2016-04-02 22:44:47 +11:00
Lucas De Marchi b4a8a0b961 AP_Math: replace header guard with pragma once 2016-03-16 18:40:41 +11:00
Gustavo Jose de Sousa 6729475b25 AP_Math: fix eulers example for PX4 2016-03-14 11:54:31 -03:00
Gustavo Jose de Sousa d9bb696fa3 AP_Math: avoid bias in rand_num() in eulers example 
Use RAND_MAX to avoid bias.
 2016-03-14 11:54:31 -03:00
Tom Pittenger 278fb2e60d AP_Math: add location sanity checker/fixer util 2016-03-02 08:48:26 -08:00
dgrat 672acdc8ef AP_Math: Created location.h header for location functions 
Helps to order AP_Math functions by purpose.
 2016-02-27 02:51:33 -03:00
Lucas De Marchi 7f685a12bd AP_Math: remove trailing whitespaces and tabs 2016-02-27 02:51:33 -03:00
dgrat 5148e41c1a AP_Math: Cleaned macro definitions 
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
 2016-02-27 02:51:33 -03:00
dgrat 7c4c8ea579 AP_Math: Remove ROTATION_COMBINATION_SUPPORT 
This function is not used.
 2016-02-27 02:51:33 -03:00
Daniel Frenzel ead51a9d19 AP_Math: Removed useless "undef INLINE" 2016-02-25 02:10:39 -03:00
Daniel Frenzel ef7cf7c4aa AP_Math: Removed useless header 
"float.h" does not exist. It is useless and wrong to include it.
 2016-02-25 02:10:39 -03:00
Peter Barker 80bc7a50d7 AP_Math: define MATH_CHECK_INDEXES 
Wrapped in ifndefs so the top-level Makefile can override

Assume MATH_CHECK_INDEXES is always defined
 2016-02-19 12:34:23 -02:00
Gustavo Jose de Sousa c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_ 
It helps to distinguish between things from waf and things from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa a2d2661765 waf: use methods from bld instead of ardupilotwaf for the remaining 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa 3d22490397 waf: examples: use methods from bld instead of ardupilotwaf 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa d281067bcc waf: make example binaries be placed in 'examples' dir 
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
 2016-01-15 16:46:41 -02:00
Andrew Tridgell 60af7a6087 AP_Math: removed matrix3 parameter support 2016-01-04 11:14:43 +11:00
Andrew Tridgell 16e0a6d7b0 AP_Math: fixed angle between two vector3s 2016-01-01 12:41:05 +11:00
Lucas De Marchi 180359d6dd AP_Math: fix unit test 
For ROTATION_ROLL_90_PITCH_68_YAW_293 consider the angles as 90, 68.8
and 293.3 degrees to pre-calculate rotation. This matches the rotation
matrix used in code.

While at it, check not only the values are close enough but also the
length of the vector.
 2015-12-30 20:22:28 -02:00
Lucas De Marchi ba3325ffd3 AP_Math: rename rotation 
The rotations are supposed to follow the name of the enum, in order. The
ROTATION_YAW_293_PITCH_68_ROLL_90 was added with the name of an
intrinsic 321 rotation, but the matrix is actually a 123 rotation,
following the other rotations already present.

Change the name to follow the other names.
 2015-12-30 20:22:27 -02:00
Jonathan Challinger 83d5a6664a AP_Math: minor changes to matrix_alg in response to review 2015-12-29 22:57:21 -08:00
bugobliterator 1a4b4fa85e AP_Math: add inverse matrix test to check if inverse(mat)*mat = I 
where I is an identity matrix (a matrix with diagonal elements = 1)
 2015-12-29 10:46:35 -08:00
bugobliterator fe62a049bd AP_Math: implement LU decomposition based matrix inverse 
Replaces previous matlab generated code, which was giving imprecise results
 2015-12-29 10:46:34 -08:00
Siddharth Bharat Purohit a0c3cbffee AP_Math: add inverse matrix test example 
fix example build
 2015-12-29 10:46:34 -08:00
Siddharth Bharat Purohit 5af0cc8eaf AP_Math: add inverse rotate example function 2015-12-29 10:46:34 -08:00
Jonathan Challinger 7ed8b3814f AP_Math: add rotate_inverse to Vector3 2015-12-29 10:46:34 -08:00
Lucas De Marchi a096703b06 Global: don't link with AP_Progmem 
AP_Progmem is not used anymore.
 2015-12-27 15:58:12 -02:00
Lucas De Marchi 502077d763 AP_Math: stop using Progmem.h 2015-12-27 15:58:12 -02:00
José Roberto de Souza d74bd533c8 AP_Math: Add function to convert frequency to/from microseconds 2015-12-16 08:18:17 +11:00
José Roberto de Souza 38575dd87a AP_Math: Fix parameter name in nsec_to_hz() 2015-12-16 08:18:17 +11:00
Jonathan Challinger 0a701088d4 AP_Math: fix bug in Quaternion::operator*= 2015-12-14 11:15:33 +09:00
Jonathan Challinger fff275fd99 AP_Math: add wrap_2PI 2015-12-09 19:58:25 +09:00
Tom Pittenger f8b0a6a977 AP_Math: compiler warnings - undeclared function 2015-12-07 16:05:00 +09:00
Tom Pittenger 103af93ec3 AP_Math: compiler warnings - float compare to constant (zero) 2015-12-07 16:04:59 +09:00
Lucas De Marchi f5c03c786d AP_Math: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:43 +11:00
Gustavo Jose de Sousa eef784fbe6 AP_Math: add benchmark for matrix multiplication 2015-12-03 07:54:31 +11:00
Gustavo Jose de Sousa 4266e924d0 AP_Math: add unit test for vector rotations 
This unit test already shows that rotation is wrong for
ROTATION_YAW_293_PITCH_68_ROLL_90.
 2015-12-03 07:54:31 +11:00
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Lucas De Marchi aa9168e0e9 AP_Math: remove unused maxf() 2015-12-01 16:28:18 -02:00
Lucas De Marchi 6f88fba8e5 AP_Math: remove unused minf() 2015-12-01 16:28:18 -02:00
Lucas De Marchi e0a0514c79 AP_Math: turn MIN/MAX macros into inline functions 
The problem with the current MIN/MAX macros is that they evaluate twice
the arguments. For example, these cases provide unintended results:

	// a is incremented twice
	a = MIN(a++, b);
	// foo() with side-effects
	a = MIN(foo(), b);

The alternative implementation here was provided by Daniel Frenzel using
template function. It doesn't have type safety as std::min and std::max,
but adding type safety would mean to check case by case what would be a
reasonable type and add proper casts. Here the arguments for MIN and MAX
can have different types and the return type is deduced from the
expression in the function.

Inspecting the current callers no place was found with the unintended
results above, but some in which now we don't calculate twice the
parameters will benefit from this new version. Examples:

	float velocity_max = MIN(_pos_control.get_speed_xy(), safe_sqrt(0.5f*_pos_control.get_accel_xy()*_radius));

	float acro_level_mix = constrain_float(1-MAX(MAX(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0, 0, 1)*ahrs.cos_pitch()

	accel_x_cmss = (GRAVITY_MSS * 100) * (-(_ahrs.cos_yaw() * _ahrs.sin_pitch() / MAX(_ahrs.cos_pitch(),0.5f)) - _ahrs.sin_yaw() * _ahrs.sin_roll() / MAX(_ahrs.cos_roll(),0.5f));

	track_leash_slack = MIN(_track_leash_length*(leash_z-track_error_z)/leash_z, _track_leash_length*(leash_xy-track_error_xy)/leash_xy);

	RC_Channel_aux::move_servo(RC_Channel_aux::k_sprayer_pump, MIN(MAX(ground_speed * _pump_pct_1ms, 100 *_pump_min_pct),10000),0,10000);
 2015-12-01 16:28:18 -02:00
Lucas De Marchi 2591261af6 Global: rename min and max macros to uppercase 
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.

Changes generated with:

	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
	git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
 2015-12-01 16:28:09 -02:00
Caio Marcelo de Oliveira Filho 8257e6ab89 AP_Math: examples use millis/micros/panic functions 2015-11-20 12:31:55 +09:00
Andrew Tridgell 8f4ce7f20b build: removed all nocore.inoflag files 
these were APM2 specific
 2015-11-16 08:05:17 +11:00
José Roberto de Souza d53911e3f6 AP_Math: Add functions to convert microseconds to/from nanoseconds 2015-11-10 17:05:34 +11:00
José Roberto de Souza ca533a9d94 AP_Math: Add functions to convert frequency to/from nanoseconds 2015-11-10 17:05:34 +11:00
Lucas De Marchi fb28f426da AP_Math: remove check for AVR CPUs 
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
 2015-11-04 12:14:14 +11:00
Lucas De Marchi c7871d1bca AP_Math: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Lucas De Marchi 5244559010 Minimize AP_Progmem.h includes 
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
 2015-10-30 14:35:32 +09:00
Lucas De Marchi 20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf() 
This also starts to show warnings on places that were already using
wrong printf format strings.
 2015-10-30 14:35:25 +09:00
Lucas De Marchi 6f4904189b Replace use of println_P() with println() 2015-10-30 14:35:22 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR 
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
 2015-10-30 14:35:04 +09:00
Caio Marcelo de Oliveira Filho 5020db4481 AP_Math: remove unnecessary includes 
Remove unnecessary includes, in particular the includes for specific
boards. The list of libraries for 'polygon' example was updated so that
the example compiles again.
 2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho ec52df991c build: compile only the HAL files needed by the board 
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
 2015-10-21 09:16:07 +11:00
Andrew Tridgell c9ec8b3f67 AP_Math: added O3 optimisation to core math libraries 
this costs some flash space but speeds things up considerably
 2015-10-20 14:36:53 +11:00
Randy Mackay 6145794da2 AP_Math: remove duplicate RADIUS_OF_EARTH definition 2015-10-05 21:00:14 +09:00
Randy Mackay 39340e70f8 Math: add Vector2 is_zero method 2015-09-16 15:10:25 +09:00
Valmantas Palikša d4daf19151 AP_Math: Move simple math function implementations to header for better 
compile time optimization

Functions like sq() are better moved to the header file as inline.
Compiler can then optimize these out when used in code, this saves cpu
cycles with stack push, pop during function calls.
 2015-09-09 09:57:51 +10:00
Tom Pittenger 4771d19073 AP_Math: added locations_are_same(loc1,loc2) helper 
returns true if lat and lng are the same, ignores alt and options
 2015-09-08 17:05:54 +10:00
Siddharth Bharat Purohit 1ffbffa0e7 AP_Math: check if failed to allocate memory 2015-09-03 16:59:14 +10:00
Gustavo Jose de Sousa 46774136a6 AP_Compass: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-09-03 16:59:13 +10:00
Jonathan Challinger 1c100498d4 AP_Math: use is_zero instead of defining our own epsilon 2015-09-03 16:59:13 +10:00
Siddharth Bharat Purohit b654b1c21b AP_Math: add inverse matrix to math library 2015-09-03 16:59:12 +10:00
Randy Mackay 46c652e42f Math: maxf and minf functions 2015-08-19 16:44:34 +09:00
Gustavo Jose de Sousa 4790371f9b AP_Math: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:38:18 +10:00
Lucas De Marchi 0471de2342 AP_Math: use ARRAY_SIZE macro 2015-07-21 14:25:09 +09:00
Lucas De Marchi fb2eb262e7 AP_Math: use ARRAY_SIZE instead of defining another one 2015-07-21 14:24:49 +09:00
Andrew Tridgell 6009ae55b1 AP_Math: fixed build of eulers example sketch 2015-07-17 08:24:49 +10:00
Andrew Tridgell 8f41d97548 AP_Math: fixed build error on PX4 
variable set but not used with recent longitude_scale change
 2015-07-06 08:19:57 +10:00
Andrew Tridgell 099392d3ca AP_Math: don't optimise longitude_scale on faster CPUs 
it causes problems with replay
 2015-07-05 17:27:53 +10:00
Andrew Tridgell 3edac37929 AP_Math: removed unused include in example 2015-06-01 17:35:03 +10:00
Andrew Tridgell 4d040bbb94 AP_Math: convert example from .pde to .cpp 2015-06-01 17:07:04 +10:00
Andrew Tridgell 2b828a794e AP_Math: fixed example build 2015-06-01 16:36:54 +10:00
Randy Mackay 114c4f4077 AP_Match: fix example sketch 2015-05-27 09:47:24 +09:00
Andrew Tridgell 2a8f645d81 AP_Math: use matrix3 euler312 operations in quaternion library 2015-05-25 09:08:31 +10:00
Andrew Tridgell 7aa7e03169 AP_Math: added euler312 functions (for gimbal) 2015-05-25 09:03:11 +10:00
Andrew Tridgell 605b8b4ece AP_Math: converted rotations example to cpp 
this is just a test conversion before we start converting on-mass
 2015-05-21 13:41:20 +10:00
Andrew Tridgell 062c9406bd AP_Math: fixed rotations example build 2015-05-21 13:37:44 +10:00
Tom Pittenger 5f677c2b5b AP_Math: float to double promotion via cos instead of cosf 2015-05-16 08:21:49 +10:00
Tom Pittenger e20ffa8c75 AP_Math: replace fabs() with fabsf() 2015-05-09 09:57:27 +10:00
Randy Mackay 9dede2f0ec Math: remove duplicate HALF_SQRT_2 definition 2015-05-05 14:23:14 +09:00
Andrew Tridgell 77a2b4acf6 AP_Math: removed fast_atan 2015-05-05 13:57:22 +10:00
Andrew Tridgell 0b897e04bb AP_Math: revert AP_Math class change 2015-05-05 13:27:06 +10:00
Andrew Tridgell 936fbbb362 AP_Math: removed AP_Math class 2015-05-05 13:27:03 +10:00
Tom Pittenger 4ec2fb3a9c AP_Math: Compiler warnings: nuke fast_atan2() 
per Randy's suggestion, fast_atan2() is no longer necessary over atan2() because only copter uses it and copter is no longer supported on future builds of APM

ccd578664f (commitcomment-11025083)
 2015-05-05 13:27:02 +10:00
Tom Pittenger 330e4126bb Ap_Math: compile warnings: float to double. use atan2f instead of atan2 2015-05-05 13:27:00 +10:00
Tom Pittenger 820f0bf02a AP_Math: compiler warnings: float to double promotion 
cast as float because we're in magical template land where T minus T means promote to double
 2015-05-05 13:26:58 +10:00
Tom Pittenger 1c3ad00aa7 AP_Math: compiler warnings: use double for the constant so the template can handle it 2015-05-05 13:26:57 +10:00
Tom Pittenger 6e6f481ecb AP_Math: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:56 +10:00
Tom Pittenger 35f7a466e5 AP_Math: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:52 +10:00
Tom Pittenger a5d2f3a82f AP_Math: compiler warnings: float to double 2015-05-05 13:26:52 +10:00
Tom Pittenger ac4e7b2b03 AP_Math: compiler warnings: apply is_equal(float) 2015-05-05 13:26:51 +10:00
Tom Pittenger c93c773de2 AP_Math: change is_equal and is_zero to static class for better visability 2015-05-05 13:26:50 +10:00
Tom Pittenger bdda11b327 AP_Math: compiler warning: is_zero special case for vector3.h in a template 2015-05-05 13:26:50 +10:00
Andrew Tridgell eca675c556 AP_Math: fix for HAL_SITL rename 2015-05-05 09:45:55 +10:00
Andrew Tridgell 24b051565b AP_Math: added normalize() method to Matrix3f 2015-05-05 09:45:52 +10:00
Randy Mackay fecbf06008 AP_Math: fix example sketches 2015-05-01 20:57:38 +09:00
Randy Mackay eaedeeb7bf AP_Math: add quaternion.initialise 2015-05-01 16:37:34 +09:00
Randy Mackay 0392292489 AP_Math: inline is_equal, add is_zero 2015-04-28 16:19:01 +09:00
dgrat 726d7df710 AP_Math: add is_equal to compare floats 2015-04-28 16:18:59 +09:00
Jonathan Challinger 3812773485 AP_Math: make quaternion divide by zero protection more conservative 2015-04-28 11:42:13 +10:00
Jonathan Challinger fb8da1b2d8 AP_Math: add get_euler_(roll|pitch|yaw) functions to quaternion 2015-04-28 11:42:13 +10:00
Tom Pittenger 10c933966b AP_Math: fix compile warning re float constants 2015-04-24 14:25:02 +09:00
Tom Pittenger a8dda9f2ed AP_Math: fix compile warnings re float constants 2015-04-24 14:03:54 +09:00
Jonathan Challinger 6baec4952b AP_Math: add conversions to and from 3-1-2 euler angles 2015-04-07 21:20:51 -07:00
Jonathan Challinger a1d4f40c16 AP_Math: change quaternion operator* and operator/ to const 2015-04-07 21:20:51 -07:00
Jonathan Challinger 07735fefa6 AP_Math: fix div by zero in quaternion 2015-04-07 21:20:51 -07:00
Andrew Tridgell 728dbf24db AP_Math: fixed vector inequality test 
many thanks to cat888

fixes issue #2039
 2015-04-01 20:40:37 -07:00
Grant Morphett 300a02f4e4 AP_Math: Changes to fix the warnings in rover sitl build. 
We are starting the process of resolving all the warnings in the
ardupilot builds of all vehicles and platforms.
 2015-02-11 18:16:46 +11:00
Jonathan Challinger 5f7480b740 AP_Math: change fast_atan2 to use atan2f on fast CPUs 2015-02-09 22:24:09 +09:00
Paul Riseborough 255252f387 AP_Math: Fix bug in quaternion division 2015-02-03 09:49:16 +11:00
Paul Riseborough 17445d03f0 AP_Math: Add quaternion division 2015-02-03 09:49:16 +11:00
Randy Mackay 689cc9e298 AP_Math: fix example sketch 2015-01-28 17:15:43 +09:00
Andrew Tridgell fefdc37a4d AP_Math: fixed warnings on bounds checking in quaternion 2015-01-09 11:04:50 +11:00
Andrew Tridgell 6bb4a8c361 AP_Math: make location_path_proportion() and location_passed_point() more efficient 
the dot product is much more efficient than the trigonometry. Thanks
to Paul for the suggestion
 2015-01-03 14:06:59 +11:00
Jonathan Challinger 9e5a30d5ba AP_Math: change ROTATION_YAW_293_PITCH_68_ROLL_180 to ROLL_90 2015-01-02 17:15:18 +09:00
Andrew Tridgell f38f86ab8c AP_Math: added location_path_proportion() 
this can be used for glide slope calculations
 2015-01-01 15:17:10 +11:00
Andrew Tridgell 38c5f25c70 AP_Math: fixed example build 2014-11-25 13:22:17 +11:00
Andrew Tridgell 8d54368650 AP_Math: fixed build warning 2014-11-25 08:17:15 +11:00
Randy Mackay 503d14428d AP_Math: add new rotation to example rotation sketch 2014-11-22 14:10:00 +09:00
Randy Mackay 3d2c9910b3 AP_Math: add yaw 293, pitch 68, roll 180 rotation 2014-11-22 14:09:16 +09:00
Jonathan Challinger cdd2199138 AP_Math: expand frame transformation test case for quaternions 2014-10-20 06:24:33 +11:00
Jonathan Challinger 3befe74afa AP_Math: change quaternion class to use const references where optimal 2014-10-20 06:24:30 +11:00
Jonathan Challinger 70845882a7 AP_Math: fix up rotation test suite 2014-10-20 06:24:27 +11:00
Jonathan Challinger 1f7e393e38 AP_Math: refactor quaternion library 2014-10-20 06:24:22 +11:00
Andrew Tridgell 184c4c8ac5 AP_Math: fixed example build 2014-08-13 22:12:04 +10:00
Andrew Tridgell 917c9f7865 AP_Math: fixed example build 2014-08-13 21:48:35 +10:00
Daniel Frenzel b1a9d6bbcc AP_Math: Using const references in matrix3 
Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
 2014-08-11 09:24:05 +10:00
Andrew Tridgell b92873cab1 AP_Math: prevent negative longitude scaling 
for crazy locations
 2014-08-07 09:30:02 +10:00
Andrew Tridgell 03dc27147e AP_Math: port examples to Linux 2014-07-29 15:49:38 +10:00
Andrew Tridgell aa5940c378 AP_Math: fixed example build 2014-07-25 17:51:30 +10:00
Niels Joubert 398f32d538 AP_Math: Comments on WGS coordinate conversions 2014-06-30 10:29:56 +10:00
David Dewey 17374ff5e8 AP_Math: fast_atan2 
This is 126us per call vs 199us on the AVR.  it is accurate to about
0.28 degrees

Committed by rmackay9 but contribution is from David Dewey
 2014-06-06 18:50:41 +09:00
Andrew Tridgell 7e5a491f14 AP_Math: prevent a floating point exception 2014-04-21 15:37:08 +10:00
Andrew Tridgell e566802bf3 AP_Math: fixed example build 2014-04-07 07:37:34 +10:00
Niels Joubert 879eb5936b AP_MATH: Adding WGS GPS conversions, CRC16 checks, and double-precision Vectors and Matrices 2014-04-05 13:42:23 +11:00
Andrew Tridgell 9278685cdf AP_Math: fixed location build on SITL 2014-04-01 14:20:10 +11:00
Andrew Tridgell acd54d0826 AP_Math: fixed example build 2014-03-19 12:13:48 +09:00
Andrew Tridgell 009913ec60 AP_Math: make is_nan const for quaternion and add .zero() for vector2 2014-02-21 20:24:47 +11:00
Andrew Tridgell 599c3a8abf AP_Math: added more operators to VectorN 2014-02-19 10:14:58 +11:00
Andrew Tridgell 2df314799e AP_Math: added tests for quaternion to/from rotation matrix 2014-02-15 12:20:51 +11:00
Andrew Tridgell 689f230d40 AP_Math: added quaternion.from_rotation_matrix() 2014-02-15 12:20:31 +11:00
Andrew Tridgell c1dff6aa65 AP_Math: fixed example build 2014-02-15 06:39:43 +11:00
Andrew Tridgell 1e0f3f5398 AP_Math: make to_euler() const 2014-02-15 05:27:51 +11:00
Andrew Tridgell 90c41981ac AP_Math: added quaternion normalization 2014-02-15 05:27:51 +11:00
Randy Mackay 37cfbc9ad5 AP_Math: float versions of wrap_360 and wrap_180 2014-02-15 05:27:45 +11:00
Randy Mackay a963ec7e3b AP_Math: bug fix to wrap_360 and wrap_180 
angles above 720deg and below 3200deg might not have been properly
wrapped.
wrap_360_cd could return 36000 when really this should be wrapped back
to zero.
 2014-02-03 12:56:56 +09:00
Andrew Tridgell 93070a673e AP_Math: fixed example build 2014-01-30 13:33:46 +11:00
Andrew Tridgell 0d174db05b AP_Math: added equality operator for VectorN 2014-01-24 10:37:08 +11:00
Paul Riseborough f2c2811ef3 AP_AHRS & AP_Math: fixed bug in use of AHRS_TRIM parameters 2014-01-19 07:19:43 +11:00
Andrew Tridgell 4c99d09265 AP_Math: fixed build of vectorN class on PX4 2013-12-31 10:28:27 +11:00
Andrew Tridgell 96df09fd08 AP_Math: add const to quaternion API 2013-12-30 14:33:17 +11:00
Andrew Tridgell 2e9744d0b3 AP_Math: prevent transpose usage error in matrix API 2013-12-30 14:33:17 +11:00
Andrew Tridgell 2c1e0ba130 AP_Math: added vectorN class, and index checking 2013-12-30 14:33:17 +11:00
Andrew Tridgell 828eed1984 AP_Math: allow vector3 and matrix3 objects to be used as arrays 2013-12-29 18:39:09 +11:00
Andrew Tridgell 9b5b4ced60 AP_Math: fixed example build 2013-12-17 11:51:37 +11:00
Andrew Tridgell 57d5345774 AP_Math: added M_PI_F define 2013-12-11 10:22:47 +11:00
Andrew Tridgell db400ffa51 AP_Math: added is_zero() method to Vector3 2013-12-09 17:34:06 +11:00
Andrew Tridgell d2deee07df AP_Math: fixed zero function for integer vectors 2013-11-07 12:48:16 +11:00
Andrew Tridgell fb19dbb404 AP_Math: cope with large values passed into the wrap functions 
this uses modulus if the function would loop too many times

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-10-03 12:21:07 +10:00
Andrew Tridgell 18896d9c9b AP_Math: fixed DOS CR/LF errors 2013-09-19 16:26:32 +10:00
Andrew Tridgell 84ed2141a0 AP_Math: fixed float rounding in location_offset() 
this prevents rounding of positions in the rover code
 2013-09-16 11:38:55 +10:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell 873e54deb1 AP_Math: fixed example build 2013-08-30 13:01:39 +10:00
Andrew Tridgell 4c752e4a94 AP_Math: simplify rotations test code 2013-08-30 13:01:34 +10:00
Andrew Tridgell e2b0e07973 AP_Math: removed unused matrix rotation code 
we only need to rotate vectors
 2013-08-30 13:01:34 +10:00
Andrew Tridgell a295a01bbc AP_Math: added missing 90 degree rotations 
this ensures we can handle all 90 degree rotations of the compass and
main board. A test in examples/rotations shows that we have them all.
 2013-08-30 13:01:33 +10:00
Andrew Tridgell 2b1fcc964f AP_Math: added a quick test of floating point location accuracy 
just confirming some maths ...
 2013-08-30 13:01:32 +10:00
Andrew Tridgell 5434b2c017 AP_Math: update location code to avoid float rounding 
this avoids manipulating global coordinates as float variables. Using
a float reduces our precision from 1cm to about 70cm.

This also adds location_diff() which will be used in the L1 controller
to avoid global positions in floats
 2013-08-13 12:07:34 +10:00
Andrew Tridgell 9cb6c987d4 AP_Math: fixed example build 2013-08-05 12:37:51 +10:00
Andrew Tridgell 1d75b52411 AP_Math: use const references not pointers for location functions 
this makes life a bit easier for the new AP_Mission library

Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
 2013-08-05 10:23:40 +10:00
Andrew Tridgell 468e55d425 AP_Math: added two new vector/matrix ops for kalman airspeed filter 2013-07-22 12:50:00 +10:00
Randy Mackay 540ca25b84 AP_Math: add rotateXY 2013-07-20 17:59:06 +09:00
Randy Mackay bd6a60f28b AP_Math: add M_PI_2 definition 
Required when building under arduino
 2013-07-14 15:57:26 +09:00
Andrew Tridgell 8c49ed78a5 AP_Math: make the rotation numbers easier to find 2013-07-08 12:17:59 +10:00
Randy Mackay 8b87849acd Math: add wrap_PI 2013-06-01 18:21:29 +09:00
Randy Mackay d81b7b507d Math: add Leonard's fast tan function 2013-05-30 18:24:32 +09:00
Andrew Tridgell 5024da2695 AP_Math: fixed indent-tabs-mode 2013-05-30 09:51:51 +10:00
Randy Mackay 7c9d9b9800 AP_Math: use DEG_TO_RAD in longitude_scale 
Also increased accuracy of RadiansToCentiDegrees although it is like the
compiler will throw away the extra digits anyway.
 2013-05-05 14:31:24 +09:00
Andrew Tridgell 737f0305ef AP_Math: implement vector2 cross product 
useful in DCM for faster yaw correction
 2013-05-05 13:47:51 +10:00
Andrew Tridgell f4189e083b AP_Math: added mulXY() for matrix3 and vector3 
returns the XY components of the product
 2013-05-05 13:47:23 +10:00
Andrew Tridgell ba83950fc4 libraries: replace constrain() with constrain_float() 
this makes the type much more obvious. Thanks to Tobias for the
suggestion.
 2013-05-02 10:25:40 +10:00
Andrew Tridgell e1f9297551 AP_Math: move print_latlon() to location.cpp 2013-04-20 13:52:36 +10:00
Andrew Tridgell 83dc7dbc92 AP_Math: handle NaN in constrain(), returning average 
this makes it less likely a NaN will propogate
 2013-04-15 14:28:51 +10:00
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