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Merge remote-tracking branch 'prodrone/betaflight' into alphaflight

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borisbstyle 2015-09-19 16:44:11 +02:00
commit 0ea5a99e2b
22 changed files with 808 additions and 184 deletions
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51
src/test/unit/maths_unittest.cc
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@ -20,6 +20,8 @@
#include <limits.h>
#include <math.h>
#define BARO
extern "C" {
@ -145,3 +147,52 @@ TEST(MathsUnittest, TestRotateVectorAroundAxis)
expectVectorsAreEqual(&vector, &expected_result);
}
#if defined(FAST_MATH) || defined(VERY_FAST_MATH)
TEST(MathsUnittest, TestFastTrigonometrySinCos)
{
double sinError = 0;
for (float x = -10 * M_PI; x < 10 * M_PI; x += M_PI / 300) {
double approxResult = sin_approx(x);
double libmResult = sinf(x);
sinError = MAX(sinError, fabs(approxResult - libmResult));
}
printf("sin_approx maximum absolute error = %e\n", sinError);
EXPECT_LE(sinError, 3e-6);
double cosError = 0;
for (float x = -10 * M_PI; x < 10 * M_PI; x += M_PI / 300) {
double approxResult = cos_approx(x);
double libmResult = cosf(x);
cosError = MAX(cosError, fabs(approxResult - libmResult));
}
printf("cos_approx maximum absolute error = %e\n", cosError);
EXPECT_LE(cosError, 3e-6);
}
TEST(MathsUnittest, TestFastTrigonometryATan2)
{
double error = 0;
for (float x = -1.0f; x < 1.0f; x += 0.01) {
for (float y = -1.0f; x < 1.0f; x += 0.001) {
double approxResult = atan2_approx(y, x);
double libmResult = atan2f(y, x);
error = MAX(error, fabs(approxResult - libmResult));
}
}
printf("atan2_approx maximum absolute error = %e rads (%e degree)\n", error, error / M_PI * 180.0f);
EXPECT_LE(error, 1e-6);
}
TEST(MathsUnittest, TestFastTrigonometryACos)
{
double error = 0;
for (float x = -1.0f; x < 1.0f; x += 0.001) {
double approxResult = acos_approx(x);
double libmResult = acos(x);
error = MAX(error, fabs(approxResult - libmResult));
}
printf("acos_approx maximum absolute error = %e rads (%e degree)\n", error, error / M_PI * 180.0f);
EXPECT_LE(error, 1e-4);
}
#endif