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Added #define for imu debug output (+16 squashed commit)
Squashed local commits: from : e4265d4a13f63f82d5cf55eea2c091622f96660b up to (inc): 72416dc74745fa8bae1aded79aa4b9ed0e389076
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21 changed files with 823 additions and 188 deletions
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@ -22,8 +22,8 @@
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#endif
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// Undefine this for use libc sinf/cosf. Keep this defined to use fast sin/cos approximations
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#define FAST_TRIGONOMETRY // order 9 approximation
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//#define EVEN_FASTER_TRIGONOMETRY // order 7 approximation
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#define FAST_MATH // order 9 approximation
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#define VERY_FAST_MATH // order 7 approximation
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// Use floating point M_PI instead explicitly.
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#define M_PIf 3.14159265358979323846f
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@ -88,12 +88,18 @@ int32_t quickMedianFilter5(int32_t * v);
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int32_t quickMedianFilter7(int32_t * v);
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int32_t quickMedianFilter9(int32_t * v);
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#if defined(FAST_TRIGONOMETRY) || defined(EVEN_FASTER_TRIGONOMETRY)
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#if defined(FAST_MATH) || defined(VERY_FAST_MATH)
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float sin_approx(float x);
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float cos_approx(float x);
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float atan2_approx(float y, float x);
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float acos_approx(float x);
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#define tan_approx(x) (sin_approx(x) / cos_approx(x))
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#else
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#define sin_approx(x) sinf(x)
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#define cos_approx(x) cosf(x)
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#define atan2_approx(y,x) atan2f(y,x)
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#define acos_approx(x) acosf(x)
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#define tan_approx(x) tanf(x)
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#endif
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void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count);
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