mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
66d65121cc
now that all the sim code is internal to the APM git repo, we can choose saner packet formats
40 lines
669 B
C++
40 lines
669 B
C++
/*
|
|
SITL handling - utility functions
|
|
|
|
This simulates the APM1 hardware sufficiently for the APM code to
|
|
think it is running on real hardware
|
|
|
|
Andrew Tridgell November 2011
|
|
*/
|
|
#include <unistd.h>
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
#include <math.h>
|
|
#include <stdint.h>
|
|
#include <fcntl.h>
|
|
#include "desktop.h"
|
|
|
|
|
|
void set_nonblocking(int fd)
|
|
{
|
|
unsigned v = fcntl(fd, F_GETFL, 0);
|
|
fcntl(fd, F_SETFL, v | O_NONBLOCK);
|
|
}
|
|
|
|
double normalise(double v, double min, double max)
|
|
{
|
|
while (v < min) {
|
|
v += (max - min);
|
|
}
|
|
while (v > max) {
|
|
v -= (max - min);
|
|
}
|
|
return v;
|
|
}
|
|
|
|
double normalise180(double v)
|
|
{
|
|
return normalise(v, -180, 180);
|
|
}
|