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AP_Math: added rand_float()

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This commit is contained in:
Andrew Tridgell 2017-04-12 21:16:07 +10:00
parent c1b6684b9f
commit 2fcecaa7c5
2 changed files with 11 additions and 0 deletions
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8
libraries/AP_Math/AP_Math.cpp
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@ -211,3 +211,11 @@ uint16_t get_random16(void)
return ((m_z << 16) + m_w) & 0xFFFF; return ((m_z << 16) + m_w) & 0xFFFF;
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// generate a random float between -1 and 1, for use in SITL
float rand_float(void)
{
return ((((unsigned)random()) % 2000000) - 1.0e6) / 1.0e6;
}
#endif

3
libraries/AP_Math/AP_Math.h
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@ -221,3 +221,6 @@ float linear_interpolate(float low_output, float high_output,
/* simple 16 bit random number generator */ /* simple 16 bit random number generator */
uint16_t get_random16(void); uint16_t get_random16(void);
// generate a random float between -1 and 1, for use in SITL
float rand_float(void);