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Ported fast trigonometry functions over from @Crashpilot1000 Harakiri code

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Fixed maths_unittest.cc to correctly handle float-point numbers
This commit is contained in:
digitalentity 2015-07-07 19:30:02 +10:00
parent 8a06849657
commit a3b57386c2
6 changed files with 85 additions and 35 deletions
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4
src/main/mw.c
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@ -240,8 +240,8 @@ void annexCode(void)
if (FLIGHT_MODE(HEADFREE_MODE)) {
float radDiff = degreesToRadians(heading - headFreeModeHold);
float cosDiff = cosf(radDiff);
float sinDiff = sinf(radDiff);
float cosDiff = cos_approx(radDiff);
float sinDiff = sin_approx(radDiff);
int16_t rcCommand_PITCH = rcCommand[PITCH] * cosDiff + rcCommand[ROLL] * sinDiff;
rcCommand[ROLL] = rcCommand[ROLL] * cosDiff - rcCommand[PITCH] * sinDiff;
rcCommand[PITCH] = rcCommand_PITCH;