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-rw-r--r--src/lib/conversion/rotation.cpp142
-rw-r--r--src/lib/conversion/rotation.h8
-rw-r--r--src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp3
-rw-r--r--src/lib/ecl/attitude_fw/ecl_roll_controller.cpp3
-rw-r--r--src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp7
-rw-r--r--src/lib/external_lgpl/tecs/tecs.cpp2
-rw-r--r--src/lib/geo/geo.c41
-rw-r--r--src/lib/geo/geo.h2
-rw-r--r--src/lib/geo/module.mk5
-rw-r--r--src/lib/geo_lookup/geo_mag_declination.c (renamed from src/lib/geo/geo_mag_declination.c)31
-rw-r--r--src/lib/geo_lookup/geo_mag_declination.h (renamed from src/lib/geo/geo_mag_declination.h)0
-rw-r--r--src/lib/geo_lookup/module.mk40
-rw-r--r--src/lib/launchdetection/module.mk2
-rw-r--r--src/lib/mathlib/math/Matrix.hpp25
-rw-r--r--src/lib/mathlib/math/Vector.hpp21
15 files changed, 259 insertions, 73 deletions
diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp
index 614877b18..e17715733 100644
--- a/src/lib/conversion/rotation.cpp
+++ b/src/lib/conversion/rotation.cpp
@@ -49,3 +49,145 @@ get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix)
rot_matrix->from_euler(roll, pitch, yaw);
}
+
+#define HALF_SQRT_2 0.70710678118654757f
+
+__EXPORT void
+rotate_3f(enum Rotation rot, float &x, float &y, float &z)
+{
+ float tmp;
+ switch (rot) {
+ case ROTATION_NONE:
+ case ROTATION_MAX:
+ return;
+ case ROTATION_YAW_45: {
+ tmp = HALF_SQRT_2*(x - y);
+ y = HALF_SQRT_2*(x + y);
+ x = tmp;
+ return;
+ }
+ case ROTATION_YAW_90: {
+ tmp = x; x = -y; y = tmp;
+ return;
+ }
+ case ROTATION_YAW_135: {
+ tmp = -HALF_SQRT_2*(x + y);
+ y = HALF_SQRT_2*(x - y);
+ x = tmp;
+ return;
+ }
+ case ROTATION_YAW_180:
+ x = -x; y = -y;
+ return;
+ case ROTATION_YAW_225: {
+ tmp = HALF_SQRT_2*(y - x);
+ y = -HALF_SQRT_2*(x + y);
+ x = tmp;
+ return;
+ }
+ case ROTATION_YAW_270: {
+ tmp = x; x = y; y = -tmp;
+ return;
+ }
+ case ROTATION_YAW_315: {
+ tmp = HALF_SQRT_2*(x + y);
+ y = HALF_SQRT_2*(y - x);
+ x = tmp;
+ return;
+ }
+ case ROTATION_ROLL_180: {
+ y = -y; z = -z;
+ return;
+ }
+ case ROTATION_ROLL_180_YAW_45: {
+ tmp = HALF_SQRT_2*(x + y);
+ y = HALF_SQRT_2*(x - y);
+ x = tmp; z = -z;
+ return;
+ }
+ case ROTATION_ROLL_180_YAW_90: {
+ tmp = x; x = y; y = tmp; z = -z;
+ return;
+ }
+ case ROTATION_ROLL_180_YAW_135: {
+ tmp = HALF_SQRT_2*(y - x);
+ y = HALF_SQRT_2*(y + x);
+ x = tmp; z = -z;
+ return;
+ }
+ case ROTATION_PITCH_180: {
+ x = -x; z = -z;
+ return;
+ }
+ case ROTATION_ROLL_180_YAW_225: {
+ tmp = -HALF_SQRT_2*(x + y);
+ y = HALF_SQRT_2*(y - x);
+ x = tmp; z = -z;
+ return;
+ }
+ case ROTATION_ROLL_180_YAW_270: {
+ tmp = x; x = -y; y = -tmp; z = -z;
+ return;
+ }
+ case ROTATION_ROLL_180_YAW_315: {
+ tmp = HALF_SQRT_2*(x - y);
+ y = -HALF_SQRT_2*(x + y);
+ x = tmp; z = -z;
+ return;
+ }
+ case ROTATION_ROLL_90: {
+ tmp = z; z = y; y = -tmp;
+ return;
+ }
+ case ROTATION_ROLL_90_YAW_45: {
+ tmp = z; z = y; y = -tmp;
+ tmp = HALF_SQRT_2*(x - y);
+ y = HALF_SQRT_2*(x + y);
+ x = tmp;
+ return;
+ }
+ case ROTATION_ROLL_90_YAW_90: {
+ tmp = z; z = y; y = -tmp;
+ tmp = x; x = -y; y = tmp;
+ return;
+ }
+ case ROTATION_ROLL_90_YAW_135: {
+ tmp = z; z = y; y = -tmp;
+ tmp = -HALF_SQRT_2*(x + y);
+ y = HALF_SQRT_2*(x - y);
+ x = tmp;
+ return;
+ }
+ case ROTATION_ROLL_270: {
+ tmp = z; z = -y; y = tmp;
+ return;
+ }
+ case ROTATION_ROLL_270_YAW_45: {
+ tmp = z; z = -y; y = tmp;
+ tmp = HALF_SQRT_2*(x - y);
+ y = HALF_SQRT_2*(x + y);
+ x = tmp;
+ return;
+ }
+ case ROTATION_ROLL_270_YAW_90: {
+ tmp = z; z = -y; y = tmp;
+ tmp = x; x = -y; y = tmp;
+ return;
+ }
+ case ROTATION_ROLL_270_YAW_135: {
+ tmp = z; z = -y; y = tmp;
+ tmp = -HALF_SQRT_2*(x + y);
+ y = HALF_SQRT_2*(x - y);
+ x = tmp;
+ return;
+ }
+ case ROTATION_PITCH_90: {
+ tmp = z; z = -x; x = tmp;
+ return;
+ }
+ case ROTATION_PITCH_270: {
+ tmp = z; z = x; x = -tmp;
+ return;
+ }
+ }
+}
diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h
index 0c56494c5..5187b448f 100644
--- a/src/lib/conversion/rotation.h
+++ b/src/lib/conversion/rotation.h
@@ -118,4 +118,12 @@ const rot_lookup_t rot_lookup[] = {
__EXPORT void
get_rot_matrix(enum Rotation rot, math::Matrix<3,3> *rot_matrix);
+
+/**
+ * rotate a 3 element float vector in-place
+ */
+__EXPORT void
+rotate_3f(enum Rotation rot, float &x, float &y, float &z);
+
+
#endif /* ROTATION_H_ */
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index a0a18bc2e..46db788a6 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -151,9 +151,6 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
if (dt_micros > 500000)
lock_integrator = true;
-// float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
- float k_ff = 0;
-
/* input conditioning */
if (!isfinite(airspeed)) {
/* airspeed is NaN, +- INF or not available, pick center of band */
diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
index d2a231694..9894a34d7 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -114,9 +114,6 @@ float ECL_RollController::control_bodyrate(float pitch,
if (dt_micros > 500000)
lock_integrator = true;
-// float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
- float k_ff = 0; //xxx: param
-
/* input conditioning */
// warnx("airspeed pre %.4f", (double)airspeed);
if (!isfinite(airspeed)) {
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index 79184e2cd..fe03b8065 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -84,7 +84,7 @@ float ECL_YawController::control_attitude(float roll, float pitch,
_rate_setpoint = 0.0f;
if (sqrtf(speed_body_u * speed_body_u + speed_body_v * speed_body_v + speed_body_w * speed_body_w) > _coordinated_min_speed) {
float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch));
- if(denumerator != 0.0f) { //XXX: floating point comparison
+ if(fabsf(denumerator) > FLT_EPSILON) {
_rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator;
// warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint);
}
@@ -132,11 +132,6 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
if (dt_micros > 500000)
lock_integrator = true;
-
-// float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
- float k_ff = 0;
-
-
/* input conditioning */
if (!isfinite(airspeed)) {
/* airspeed is NaN, +- INF or not available, pick center of band */
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp
index 3730b1920..6386e37a0 100644
--- a/src/lib/external_lgpl/tecs/tecs.cpp
+++ b/src/lib/external_lgpl/tecs/tecs.cpp
@@ -310,7 +310,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Matrix<3,3> &rotM
STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi , 0.1f, 1.0f) - 1.0f);
if (STEdot_dem >= 0) {
- ff_throttle = nomThr + STEdot_dem / _STEdot_max * (1.0f - nomThr);
+ ff_throttle = nomThr + STEdot_dem / _STEdot_max * (_THRmaxf - nomThr);
} else {
ff_throttle = nomThr - STEdot_dem / _STEdot_min * nomThr;
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index 9a24ff50e..e600976ce 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -82,8 +82,8 @@ __EXPORT void map_projection_project(struct map_projection_reference_s *ref, dou
__EXPORT void map_projection_reproject(struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon)
{
- float x_rad = x / CONSTANTS_RADIUS_OF_EARTH;
- float y_rad = y / CONSTANTS_RADIUS_OF_EARTH;
+ double x_rad = x / CONSTANTS_RADIUS_OF_EARTH;
+ double y_rad = y / CONSTANTS_RADIUS_OF_EARTH;
double c = sqrtf(x_rad * x_rad + y_rad * y_rad);
double sin_c = sin(c);
double cos_c = cos(c);
@@ -146,7 +146,6 @@ __EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double
double lat_next_rad = lat_next * M_DEG_TO_RAD;
double lon_next_rad = lon_next * M_DEG_TO_RAD;
- double d_lat = lat_next_rad - lat_now_rad;
double d_lon = lon_next_rad - lon_now_rad;
/* conscious mix of double and float trig function to maximize speed and efficiency */
@@ -174,8 +173,8 @@ __EXPORT void add_vector_to_global_position(double lat_now, double lon_now, floa
double lat_now_rad = lat_now * M_DEG_TO_RAD;
double lon_now_rad = lon_now * M_DEG_TO_RAD;
- *lat_res = (lat_now_rad + v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG;
- *lon_res = (lon_now_rad + v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG;
+ *lat_res = (lat_now_rad + (double)v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG;
+ *lon_res = (lon_now_rad + (double)v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG;
}
// Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
@@ -197,7 +196,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d
crosstrack_error->bearing = 0.0f;
// Return error if arguments are bad
- if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) { return return_value; }
+ if (lat_now == 0.0 || lon_now == 0.0 || lat_start == 0.0 || lon_start == 0.0 || lat_end == 0.0d || lon_end == 0.0d) { return return_value; }
bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
@@ -212,7 +211,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d
}
dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
- crosstrack_error->distance = (dist_to_end) * sin(bearing_diff);
+ crosstrack_error->distance = (dist_to_end) * sinf(bearing_diff);
if (sin(bearing_diff) >= 0) {
crosstrack_error->bearing = _wrap_pi(bearing_track - M_PI_2_F);
@@ -248,7 +247,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
crosstrack_error->bearing = 0.0f;
// Return error if arguments are bad
- if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) { return return_value; }
+ if (lat_now == 0.0 || lon_now == 0.0 || lat_center == 0.0 || lon_center == 0.0 || radius == 0.0f) { return return_value; }
if (arc_sweep >= 0) {
@@ -295,23 +294,21 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
// calculate the position of the start and end points. We should not be doing this often
// as this function generally will not be called repeatedly when we are out of the sector.
- // TO DO - this is messed up and won't compile
- float start_disp_x = radius * sin(arc_start_bearing);
- float start_disp_y = radius * cos(arc_start_bearing);
- float end_disp_x = radius * sin(_wrapPI(arc_start_bearing + arc_sweep));
- float end_disp_y = radius * cos(_wrapPI(arc_start_bearing + arc_sweep));
- float lon_start = lon_now + start_disp_x / 111111.0d;
- float lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0d;
- float lon_end = lon_now + end_disp_x / 111111.0d;
- float lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0d;
- float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
- float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
+ double start_disp_x = (double)radius * sin(arc_start_bearing);
+ double start_disp_y = (double)radius * cos(arc_start_bearing);
+ double end_disp_x = (double)radius * sin(_wrapPI((double)(arc_start_bearing + arc_sweep)));
+ double end_disp_y = (double)radius * cos(_wrapPI((double)(arc_start_bearing + arc_sweep)));
+ double lon_start = lon_now + start_disp_x / 111111.0;
+ double lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0;
+ double lon_end = lon_now + end_disp_x / 111111.0;
+ double lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0;
+ double dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
+ double dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
if (dist_to_start < dist_to_end) {
crosstrack_error->distance = dist_to_start;
crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
-
} else {
crosstrack_error->past_end = true;
crosstrack_error->distance = dist_to_end;
@@ -320,7 +317,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
}
- crosstrack_error->bearing = _wrapPI(crosstrack_error->bearing);
+ crosstrack_error->bearing = _wrapPI((double)crosstrack_error->bearing);
return_value = OK;
return return_value;
}
@@ -337,7 +334,7 @@ __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now
double d_lat = x_rad - current_x_rad;
double d_lon = y_rad - current_y_rad;
- double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0f) * cos(current_x_rad) * cos(x_rad);
+ double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(current_x_rad) * cos(x_rad);
double c = 2 * atan2(sqrt(a), sqrt(1 - a));
float dxy = CONSTANTS_RADIUS_OF_EARTH * c;
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index e2f3da6f8..8b286af36 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -50,7 +50,7 @@
__BEGIN_DECLS
-#include "geo/geo_mag_declination.h"
+#include "geo_lookup/geo_mag_declination.h"
#include <stdbool.h>
diff --git a/src/lib/geo/module.mk b/src/lib/geo/module.mk
index 9500a2bcc..d08ca4532 100644
--- a/src/lib/geo/module.mk
+++ b/src/lib/geo/module.mk
@@ -1,6 +1,6 @@
############################################################################
#
-# Copyright (C) 2012 PX4 Development Team. All rights reserved.
+# Copyright (c) 2012-2014 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
@@ -35,5 +35,4 @@
# Geo library
#
-SRCS = geo.c \
- geo_mag_declination.c
+SRCS = geo.c
diff --git a/src/lib/geo/geo_mag_declination.c b/src/lib/geo_lookup/geo_mag_declination.c
index 09eac38f4..c41d52606 100644
--- a/src/lib/geo/geo_mag_declination.c
+++ b/src/lib/geo_lookup/geo_mag_declination.c
@@ -54,24 +54,19 @@
static const int8_t declination_table[13][37] = \
{
- 46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, \
- -66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46, 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, \
- -3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, \
- 29, 30, 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, \
- -40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21, 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, \
- 8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, \
- 10, 13, 15, 16, 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, \
- -10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12, 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, \
- -14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10, 9, 9, 9, \
- 9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, \
- 7, 8, 9, 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, \
- 0, 0, 0, 1, 3, 5, 7, 8, 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, \
- 0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8, 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, \
- 0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6, 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, \
- -16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5, 4, 8, 12, 15, 17, 18, 16, \
- 12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, \
- 0, 4, 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, \
- 13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3
+ { 46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, -66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46 },
+ { 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, -3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, 29, 30 },
+ { 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, -40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21 },
+ { 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, 8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, 10, 13, 15, 16 },
+ { 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, -10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12 },
+ { 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, -14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10 },
+ { 9, 9, 9, 9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, 7, 8, 9 },
+ { 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, 0, 0, 0, 1, 3, 5, 7, 8 },
+ { 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, 0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8 },
+ { 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, 0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6 },
+ { 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, -16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5 },
+ { 4, 8, 12, 15, 17, 18, 16, 12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, 0, 4 },
+ { 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, 13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3 },
};
static float get_lookup_table_val(unsigned lat, unsigned lon);
diff --git a/src/lib/geo/geo_mag_declination.h b/src/lib/geo_lookup/geo_mag_declination.h
index 0ac062d6d..0ac062d6d 100644
--- a/src/lib/geo/geo_mag_declination.h
+++ b/src/lib/geo_lookup/geo_mag_declination.h
diff --git a/src/lib/geo_lookup/module.mk b/src/lib/geo_lookup/module.mk
new file mode 100644
index 000000000..d7a10df2d
--- /dev/null
+++ b/src/lib/geo_lookup/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+# Copyright (c) 2014 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.
+#
+############################################################################
+
+#
+# Geo lookup table / data library
+#
+
+SRCS = geo_mag_declination.c
+
+MAXOPTIMIZATION = -Os
diff --git a/src/lib/launchdetection/module.mk b/src/lib/launchdetection/module.mk
index de0174e37..d92f0bb45 100644
--- a/src/lib/launchdetection/module.mk
+++ b/src/lib/launchdetection/module.mk
@@ -38,3 +38,5 @@
SRCS = LaunchDetector.cpp \
CatapultLaunchMethod.cpp \
launchdetection_params.c
+
+MAXOPTIMIZATION = -Os
diff --git a/src/lib/mathlib/math/Matrix.hpp b/src/lib/mathlib/math/Matrix.hpp
index ea0cf4ca1..ca931e2da 100644
--- a/src/lib/mathlib/math/Matrix.hpp
+++ b/src/lib/mathlib/math/Matrix.hpp
@@ -69,27 +69,34 @@ public:
/**
* trivial ctor
- * note that this ctor will not initialize elements
+ * Initializes the elements to zero.
*/
- MatrixBase() {
- arm_mat = {M, N, &data[0][0]};
+ MatrixBase() :
+ data{},
+ arm_mat{M, N, &data[0][0]}
+ {
}
+ virtual ~MatrixBase() {};
+
/**
* copyt ctor
*/
- MatrixBase(const MatrixBase<M, N> &m) {
- arm_mat = {M, N, &data[0][0]};
+ MatrixBase(const MatrixBase<M, N> &m) :
+ arm_mat{M, N, &data[0][0]}
+ {
memcpy(data, m.data, sizeof(data));
}
- MatrixBase(const float *d) {
- arm_mat = {M, N, &data[0][0]};
+ MatrixBase(const float *d) :
+ arm_mat{M, N, &data[0][0]}
+ {
memcpy(data, d, sizeof(data));
}
- MatrixBase(const float d[M][N]) {
- arm_mat = {M, N, &data[0][0]};
+ MatrixBase(const float d[M][N]) :
+ arm_mat{M, N, &data[0][0]}
+ {
memcpy(data, d, sizeof(data));
}
diff --git a/src/lib/mathlib/math/Vector.hpp b/src/lib/mathlib/math/Vector.hpp
index c7323c215..0ddf77615 100644
--- a/src/lib/mathlib/math/Vector.hpp
+++ b/src/lib/mathlib/math/Vector.hpp
@@ -69,25 +69,32 @@ public:
/**
* trivial ctor
- * note that this ctor will not initialize elements
+ * initializes elements to zero
*/
- VectorBase() {
- arm_col = {N, 1, &data[0]};
+ VectorBase() :
+ data{},
+ arm_col{N, 1, &data[0]}
+ {
+
}
+ virtual ~VectorBase() {};
+
/**
* copy ctor
*/
- VectorBase(const VectorBase<N> &v) {
- arm_col = {N, 1, &data[0]};
+ VectorBase(const VectorBase<N> &v) :
+ arm_col{N, 1, &data[0]}
+ {
memcpy(data, v.data, sizeof(data));
}
/**
* setting ctor
*/
- VectorBase(const float d[N]) {
- arm_col = {N, 1, &data[0]};
+ VectorBase(const float d[N]) :
+ arm_col{N, 1, &data[0]}
+ {
memcpy(data, d, sizeof(data));
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-09 09:59:42 +0000