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248 Commits

Author SHA1 Message Date
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
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