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GPS: handle negative and high altitudes; safer macros in maths.h

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Fixes underflows at negative altitude (below MSL) and overflows at altitude higher than 655.35m
Corrected parenthesis in maths.h avoid incorrect equations if arguments contain expressions.
This commit is contained in:
AirBreak69 2018-06-12 00:02:29 +02:00
parent a5ba01666b
commit 536ad399e6
4 changed files with 11 additions and 8 deletions
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11
src/main/common/maths.h
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@ -1,3 +1,4 @@
/*
/*
* This file is part of Cleanflight and Betaflight.
*
@ -33,13 +34,13 @@
#define M_PIf 3.14159265358979323846f
#define RAD (M_PIf / 180.0f)
#define DEGREES_TO_DECIDEGREES(angle) (angle * 10)
#define DECIDEGREES_TO_DEGREES(angle) (angle / 10)
#define DECIDEGREES_TO_RADIANS(angle) ((angle / 10.0f) * 0.0174532925f)
#define DEGREES_TO_DECIDEGREES(angle) ((angle) * 10)
#define DECIDEGREES_TO_DEGREES(angle) ((angle) / 10)
#define DECIDEGREES_TO_RADIANS(angle) ((angle) / 10.0f * 0.0174532925f)
#define DEGREES_TO_RADIANS(angle) ((angle) * 0.0174532925f)
#define CM_S_TO_KM_H(centimetersPerSecond) (centimetersPerSecond * 36 / 1000)
#define CM_S_TO_MPH(centimetersPerSecond) (((centimetersPerSecond * 10000) / 5080) / 88)
#define CM_S_TO_KM_H(centimetersPerSecond) ((centimetersPerSecond) * 36 / 1000)
#define CM_S_TO_MPH(centimetersPerSecond) ((centimetersPerSecond) * 10000 / 5080 / 88)
#define MIN(a,b) \
__extension__ ({ __typeof__ (a) _a = (a); \