Merged multirotor branch

1 files changed, 94 insertions, 0 deletions

diff --git a/src/lib/mathlib/math/test/test.cpp b/src/lib/mathlib/math/test/test.cpp
new file mode 100644
index 000000000..2fa2f7e7c
--- /dev/null
+++ b/src/lib/mathlib/math/test/test.cpp
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+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file test.cpp
+ *
+ * Test library code
+ */
+
+#include <stdio.h>
+#include <math.h>
+#include <stdlib.h>
+
+#include "test.hpp"
+
+bool __EXPORT equal(float a, float b, float epsilon)
+{
+	float diff = fabsf(a - b);
+
+	if (diff > epsilon) {
+		printf("not equal ->\n\ta: %12.8f\n\tb: %12.8f\n", double(a), double(b));
+		return false;
+
+	} else return true;
+}
+
+void __EXPORT float2SigExp(
+	const float &num,
+	float &sig,
+	int &exp)
+{
+	if (isnan(num) || isinf(num)) {
+		sig = 0.0f;
+		exp = -99;
+		return;
+	}
+
+	if (fabsf(num) < 1.0e-38f) {
+		sig = 0;
+		exp = 0;
+		return;
+	}
+
+	exp = log10f(fabsf(num));
+
+	if (exp > 0) {
+		exp = ceil(exp);
+
+	} else {
+		exp = floor(exp);
+	}
+
+	sig = num;
+
+	// cheap power since it is integer
+	if (exp > 0) {
+		for (int i = 0; i < abs(exp); i++) sig /= 10;
+
+	} else {
+		for (int i = 0; i < abs(exp); i++) sig *= 10;
+	}
+}
+
+