aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Compass: use get_random16()

Browse Source
This commit is contained in:
Andrew Tridgell 2016-11-17 16:23:22 +11:00
parent a8d10e8c2c
commit a1bce2b54d
2 changed files with 1 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_Compass/CompassCalibrator.cpp
View File

@ -371,7 +371,7 @@ void CompassCalibrator::thin_samples() {
// shuffle the samples http://en.wikipedia.org/wiki/Fisher%E2%80%93Yates_shuffle
// this is so that adjacent samples don't get sequentially eliminated
for(uint16_t i=_samples_collected-1; i>=1; i--) {
uint16_t j = get_random() % (i+1);
uint16_t j = get_random16() % (i+1);
CompassSample temp = _sample_buffer[i];
_sample_buffer[i] = _sample_buffer[j];
_sample_buffer[j] = temp;
@ -686,15 +686,6 @@ void CompassCalibrator::run_ellipsoid_fit()
}
uint16_t CompassCalibrator::get_random(void)
{
static uint32_t m_z = 1234;
static uint32_t m_w = 76542;
m_z = 36969 * (m_z & 65535) + (m_z >> 16);
m_w = 18000 * (m_w & 65535) + (m_w >> 16);
return ((m_z << 16) + m_w) & 0xFFFF;
}
//////////////////////////////////////////////////////////
//////////// CompassSample public interface //////////////
//////////////////////////////////////////////////////////

2
libraries/AP_Compass/CompassCalibrator.h
View File

@ -135,6 +135,4 @@ private:
* Reset and update #_completion_mask with the current samples.
*/
void update_completion_mask();
uint16_t get_random();
};