mirror of https://github.com/ArduPilot/ardupilot
54 lines
920 B
C++
54 lines
920 B
C++
/*
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SITL handling - utility functions
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This simulates the APM1 hardware sufficiently for the APM code to
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think it is running on real hardware
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Andrew Tridgell November 2011
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*/
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#include <unistd.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <stdint.h>
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#include <fcntl.h>
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#include <AP_Math.h>
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#include "desktop.h"
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#include "util.h"
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void set_nonblocking(int fd)
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{
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unsigned v = fcntl(fd, F_GETFL, 0);
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fcntl(fd, F_SETFL, v | O_NONBLOCK);
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}
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double normalise(double v, double min, double max)
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{
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while (v < min) {
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v += (max - min);
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}
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while (v > max) {
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v -= (max - min);
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}
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return v;
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}
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double normalise180(double v)
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{
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return normalise(v, -180, 180);
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}
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// generate a random Vector3f of size 1
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Vector3f rand_vec3f(void)
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{
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Vector3f v = Vector3f(rand_float(),
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rand_float(),
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rand_float());
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if (v.length() != 0.0) {
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v.normalize();
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}
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return v;
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}
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