From 2bd5511d096c3351bf74c81072e2cc00b344ef79 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 28 Jun 2014 12:37:26 +0200 Subject: geo lookup lib: Moved to separate module and compiling with -Os to save some precious flash --- src/lib/geo/geo.h | 2 +- src/lib/geo/geo_mag_declination.c | 136 -------------------------------------- src/lib/geo/geo_mag_declination.h | 47 ------------- src/lib/geo/module.mk | 5 +- 4 files changed, 3 insertions(+), 187 deletions(-) delete mode 100644 src/lib/geo/geo_mag_declination.c delete mode 100644 src/lib/geo/geo_mag_declination.h (limited to 'src/lib/geo') diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h index 87c1cf460..8b286af36 100644 --- a/src/lib/geo/geo.h +++ b/src/lib/geo/geo.h @@ -50,7 +50,7 @@ __BEGIN_DECLS -#include "geo_mag_declination.h" +#include "geo_lookup/geo_mag_declination.h" #include diff --git a/src/lib/geo/geo_mag_declination.c b/src/lib/geo/geo_mag_declination.c deleted file mode 100644 index 09eac38f4..000000000 --- a/src/lib/geo/geo_mag_declination.c +++ /dev/null @@ -1,136 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2014 MAV GEO Library (MAVGEO). 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 MAVGEO 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 geo_mag_declination.c -* -* Calculation / lookup table for earth magnetic field declination. -* -* Lookup table from Scott Ferguson -* -* XXX Lookup table currently too coarse in resolution (only full degrees) -* and lat/lon res - needs extension medium term. -* -*/ - -#include - -/** set this always to the sampling in degrees for the table below */ -#define SAMPLING_RES 10.0f -#define SAMPLING_MIN_LAT -60.0f -#define SAMPLING_MAX_LAT 60.0f -#define SAMPLING_MIN_LON -180.0f -#define SAMPLING_MAX_LON 180.0f - -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 -}; - -static float get_lookup_table_val(unsigned lat, unsigned lon); - -__EXPORT float get_mag_declination(float lat, float lon) -{ - /* - * If the values exceed valid ranges, return zero as default - * as we have no way of knowing what the closest real value - * would be. - */ - if (lat < -90.0f || lat > 90.0f || - lon < -180.0f || lon > 180.0f) { - return 0.0f; - } - - /* round down to nearest sampling resolution */ - int min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES; - int min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES; - - /* for the rare case of hitting the bounds exactly - * the rounding logic wouldn't fit, so enforce it. - */ - - /* limit to table bounds - required for maxima even when table spans full globe range */ - if (lat <= SAMPLING_MIN_LAT) { - min_lat = SAMPLING_MIN_LAT; - } - - if (lat >= SAMPLING_MAX_LAT) { - min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES; - } - - if (lon <= SAMPLING_MIN_LON) { - min_lon = SAMPLING_MIN_LON; - } - - if (lon >= SAMPLING_MAX_LON) { - min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES; - } - - /* find index of nearest low sampling point */ - unsigned min_lat_index = (-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES; - unsigned min_lon_index = (-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES; - - float declination_sw = get_lookup_table_val(min_lat_index, min_lon_index); - float declination_se = get_lookup_table_val(min_lat_index, min_lon_index + 1); - float declination_ne = get_lookup_table_val(min_lat_index + 1, min_lon_index + 1); - float declination_nw = get_lookup_table_val(min_lat_index + 1, min_lon_index); - - /* perform bilinear interpolation on the four grid corners */ - - float declination_min = ((lon - min_lon) / SAMPLING_RES) * (declination_se - declination_sw) + declination_sw; - float declination_max = ((lon - min_lon) / SAMPLING_RES) * (declination_ne - declination_nw) + declination_nw; - - return ((lat - min_lat) / SAMPLING_RES) * (declination_max - declination_min) + declination_min; -} - -float get_lookup_table_val(unsigned lat_index, unsigned lon_index) -{ - return declination_table[lat_index][lon_index]; -} \ No newline at end of file diff --git a/src/lib/geo/geo_mag_declination.h b/src/lib/geo/geo_mag_declination.h deleted file mode 100644 index 0ac062d6d..000000000 --- a/src/lib/geo/geo_mag_declination.h +++ /dev/null @@ -1,47 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2014 MAV GEO Library (MAVGEO). 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 MAVGEO 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 geo_mag_declination.h -* -* Calculation / lookup table for earth magnetic field declination. -* -*/ - -#pragma once - -__BEGIN_DECLS - -__EXPORT float get_mag_declination(float lat, float lon); - -__END_DECLS 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 -- cgit v1.2.3