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AP_Math: Compiler warnings: nuke fast_atan2()

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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)
This commit is contained in:
Tom Pittenger 2015-05-04 15:41:34 -07:00 committed by Andrew Tridgell
parent 1b84bbc3e7
commit 4ec2fb3a9c
2 changed files with 0 additions and 48 deletions
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42
libraries/AP_Math/AP_Math.cpp
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@ -39,48 +39,6 @@ float fast_atan(float v)
return (v*(1.6867629106f + v2*0.4378497304f)/(1.6867633134f + v2)); return (v*(1.6867629106f + v2*0.4378497304f)/(1.6867633134f + v2));
} }
#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define FAST_ATAN2_PIBY2_FLOAT 1.5707963f
// fast_atan2 - faster version of atan2
// 126 us on AVR cpu vs 199 for regular atan2
// absolute error is < 0.005 radians or 0.28 degrees
// origin source: https://gist.github.com/volkansalma/2972237/raw/
float fast_atan2(float y, float x)
{
if (AP_Math::is_zero(x)) {
if (y > 0.0f) {
return FAST_ATAN2_PIBY2_FLOAT;
}
if (AP_Math::is_zero(y)) {
return 0.0f;
}
return -FAST_ATAN2_PIBY2_FLOAT;
}
float atan;
float z = y/x;
if (fabs( z ) < 1.0f) {
atan = z / (1.0f + 0.28f * z * z);
if (x < 0.0f) {
if (y < 0.0f) {
return atan - PI;
}
return atan + PI;
}
} else {
atan = FAST_ATAN2_PIBY2_FLOAT - (z / (z * z + 0.28f));
if (y < 0.0f) {
return atan - PI;
}
}
return atan;
}
#else
float fast_atan2(float y, float x)
{
return atan2f(y,x);
}
#endif
#if ROTATION_COMBINATION_SUPPORT #if ROTATION_COMBINATION_SUPPORT
// find a rotation that is the combination of two other // find a rotation that is the combination of two other
// rotations. This is used to allow us to add an overall board // rotations. This is used to allow us to add an overall board

6
libraries/AP_Math/AP_Math.h
View File

@ -95,12 +95,6 @@ float safe_sqrt(float v);
// a faster varient of atan. accurate to 6 decimal places for values between -1 ~ 1 but then diverges quickly // a faster varient of atan. accurate to 6 decimal places for values between -1 ~ 1 but then diverges quickly
float fast_atan(float v); float fast_atan(float v);
// fast_atan2 - faster version of atan2
// 126 us on AVR cpu vs 199 for regular atan2
// absolute error is < 0.005 radians or 0.28 degrees
// origin source: https://gist.github.com/volkansalma/2972237/raw/
float fast_atan2(float y, float x);
#if ROTATION_COMBINATION_SUPPORT #if ROTATION_COMBINATION_SUPPORT
// find a rotation that is the combination of two other // find a rotation that is the combination of two other
// rotations. This is used to allow us to add an overall board // rotations. This is used to allow us to add an overall board