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Merge pull request #7435 from etracer65/use_fabsf_for_floats

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Use fabsf() instead of ABS() for floats
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Michael Keller 2019-01-21 11:34:47 +13:00 • committed by GitHub
commit aaad98ecc3
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8 changed files with 23 additions and 22 deletions
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8
src/main/fc/core.c
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@ -533,7 +533,7 @@ static void updateInflightCalibrationState(void)
#if defined(USE_GPS) || defined(USE_MAG) #if defined(USE_GPS) || defined(USE_MAG)
void updateMagHold(void) void updateMagHold(void)
{ {
if (ABS(rcCommand[YAW]) < 15 && FLIGHT_MODE(MAG_MODE)) { if (fabsf(rcCommand[YAW]) < 15 && FLIGHT_MODE(MAG_MODE)) {
int16_t dif = DECIDEGREES_TO_DEGREES(attitude.values.yaw) - magHold; int16_t dif = DECIDEGREES_TO_DEGREES(attitude.values.yaw) - magHold;
if (dif <= -180) if (dif <= -180)
dif += 360; dif += 360;
@ -989,9 +989,9 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD) if (((fabsf(pidData[FD_PITCH].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
|| (fabsf(pidData[FD_ROLL].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD) || (fabsf(pidData[FD_ROLL].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)
|| (fabsf(pidData[FD_YAW].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD)) || (fabsf(pidData[FD_YAW].Sum) >= RUNAWAY_TAKEOFF_PIDSUM_THRESHOLD))
&& ((ABS(gyroAbsRateDps(FD_PITCH)) > RUNAWAY_TAKEOFF_GYRO_LIMIT_RP) && ((gyroAbsRateDps(FD_PITCH) > RUNAWAY_TAKEOFF_GYRO_LIMIT_RP)
|| (ABS(gyroAbsRateDps(FD_ROLL)) > RUNAWAY_TAKEOFF_GYRO_LIMIT_RP) || (gyroAbsRateDps(FD_ROLL) > RUNAWAY_TAKEOFF_GYRO_LIMIT_RP)
|| (ABS(gyroAbsRateDps(FD_YAW)) > RUNAWAY_TAKEOFF_GYRO_LIMIT_YAW))) { || (gyroAbsRateDps(FD_YAW) > RUNAWAY_TAKEOFF_GYRO_LIMIT_YAW))) {
if (runawayTakeoffTriggerUs == 0) { if (runawayTakeoffTriggerUs == 0) {
runawayTakeoffTriggerUs = currentTimeUs + RUNAWAY_TAKEOFF_ACTIVATE_DELAY; runawayTakeoffTriggerUs = currentTimeUs + RUNAWAY_TAKEOFF_ACTIVATE_DELAY;

2
src/main/fc/rc.c
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@ -167,7 +167,7 @@ static void calculateSetpointRate(int axis)
// scale rcCommandf to range [-1.0, 1.0] // scale rcCommandf to range [-1.0, 1.0]
float rcCommandf = rcCommand[axis] / 500.0f; float rcCommandf = rcCommand[axis] / 500.0f;
rcDeflection[axis] = rcCommandf; rcDeflection[axis] = rcCommandf;
const float rcCommandfAbs = ABS(rcCommandf); const float rcCommandfAbs = fabsf(rcCommandf);
rcDeflectionAbs[axis] = rcCommandfAbs; rcDeflectionAbs[axis] = rcCommandfAbs;
angleRate = applyRates(axis, rcCommandf, rcCommandfAbs); angleRate = applyRates(axis, rcCommandf, rcCommandfAbs);

2
src/main/fc/rc_controls.c
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@ -106,7 +106,7 @@ bool isUsingSticksForArming(void)
bool areSticksInApModePosition(uint16_t ap_mode) bool areSticksInApModePosition(uint16_t ap_mode)
{ {
return ABS(rcCommand[ROLL]) < ap_mode && ABS(rcCommand[PITCH]) < ap_mode; return fabsf(rcCommand[ROLL]) < ap_mode && fabsf(rcCommand[PITCH]) < ap_mode;
} }
throttleStatus_e calculateThrottleStatus(void) throttleStatus_e calculateThrottleStatus(void)

20
src/main/flight/pid.c
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@ -802,7 +802,7 @@ static float accelerationLimit(int axis, float currentPidSetpoint)
static float previousSetpoint[XYZ_AXIS_COUNT]; static float previousSetpoint[XYZ_AXIS_COUNT];
const float currentVelocity = currentPidSetpoint - previousSetpoint[axis]; const float currentVelocity = currentPidSetpoint - previousSetpoint[axis];
if (ABS(currentVelocity) > maxVelocity[axis]) { if (fabsf(currentVelocity) > maxVelocity[axis]) {
currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis]; currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis];
} }
@ -836,9 +836,9 @@ static void handleCrashRecovery(
pidData[axis].I = 0.0f; pidData[axis].I = 0.0f;
if (cmpTimeUs(currentTimeUs, crashDetectedAtUs) > crashTimeLimitUs if (cmpTimeUs(currentTimeUs, crashDetectedAtUs) > crashTimeLimitUs
|| (getMotorMixRange() < 1.0f || (getMotorMixRange() < 1.0f
&& ABS(gyro.gyroADCf[FD_ROLL]) < crashRecoveryRate && fabsf(gyro.gyroADCf[FD_ROLL]) < crashRecoveryRate
&& ABS(gyro.gyroADCf[FD_PITCH]) < crashRecoveryRate && fabsf(gyro.gyroADCf[FD_PITCH]) < crashRecoveryRate
&& ABS(gyro.gyroADCf[FD_YAW]) < crashRecoveryRate)) { && fabsf(gyro.gyroADCf[FD_YAW]) < crashRecoveryRate)) {
if (sensors(SENSOR_ACC)) { if (sensors(SENSOR_ACC)) {
// check aircraft nearly level // check aircraft nearly level
if (ABS(attitude.raw[FD_ROLL] - angleTrim->raw[FD_ROLL]) < crashRecoveryAngleDeciDegrees if (ABS(attitude.raw[FD_ROLL] - angleTrim->raw[FD_ROLL]) < crashRecoveryAngleDeciDegrees
@ -863,14 +863,14 @@ static void detectAndSetCrashRecovery(
if ((crash_recovery || FLIGHT_MODE(GPS_RESCUE_MODE)) && !gyroOverflowDetected()) { if ((crash_recovery || FLIGHT_MODE(GPS_RESCUE_MODE)) && !gyroOverflowDetected()) {
if (ARMING_FLAG(ARMED)) { if (ARMING_FLAG(ARMED)) {
if (getMotorMixRange() >= 1.0f && !inCrashRecoveryMode if (getMotorMixRange() >= 1.0f && !inCrashRecoveryMode
&& ABS(delta) > crashDtermThreshold && fabsf(delta) > crashDtermThreshold
&& ABS(errorRate) > crashGyroThreshold && fabsf(errorRate) > crashGyroThreshold
&& ABS(getSetpointRate(axis)) < crashSetpointThreshold) { && fabsf(getSetpointRate(axis)) < crashSetpointThreshold) {
inCrashRecoveryMode = true; inCrashRecoveryMode = true;
crashDetectedAtUs = currentTimeUs; crashDetectedAtUs = currentTimeUs;
} }
if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (ABS(errorRate) < crashGyroThreshold if (inCrashRecoveryMode && cmpTimeUs(currentTimeUs, crashDetectedAtUs) < crashTimeDelayUs && (fabsf(errorRate) < crashGyroThreshold
|| ABS(getSetpointRate(axis)) > crashSetpointThreshold)) { || fabsf(getSetpointRate(axis)) > crashSetpointThreshold)) {
inCrashRecoveryMode = false; inCrashRecoveryMode = false;
BEEP_OFF; BEEP_OFF;
} }
@ -1027,7 +1027,7 @@ void FAST_CODE applySmartFeedforward(int axis)
{ {
if (smartFeedforward) { if (smartFeedforward) {
if (pidData[axis].P * pidData[axis].F > 0) { if (pidData[axis].P * pidData[axis].F > 0) {
if (ABS(pidData[axis].F) > ABS(pidData[axis].P)) { if (fabsf(pidData[axis].F) > fabsf(pidData[axis].P)) {
pidData[axis].P = 0; pidData[axis].P = 0;
} else { } else {
pidData[axis].F = 0; pidData[axis].F = 0;

2
src/main/io/gps.c
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@ -1268,7 +1268,7 @@ float GPS_scaleLonDown = 1.0f; // this is used to offset the shrinking longitud
void GPS_calc_longitude_scaling(int32_t lat) void GPS_calc_longitude_scaling(int32_t lat)
{ {
float rads = (ABS((float)lat) / 10000000.0f) * 0.0174532925f; float rads = (fabsf((float)lat) / 10000000.0f) * 0.0174532925f;
GPS_scaleLonDown = cos_approx(rads); GPS_scaleLonDown = cos_approx(rads);
} }

3
src/main/io/ledstrip.c
View file

@ -23,6 +23,7 @@
#include <stdint.h> #include <stdint.h>
#include <string.h> #include <string.h>
#include <stdarg.h> #include <stdarg.h>
#include <math.h>
#include "platform.h" #include "platform.h"
@ -791,7 +792,7 @@ static void applyLedIndicatorLayer(bool updateNow, timeUs_t *timer)
if (updateNow) { if (updateNow) {
if (rxIsReceivingSignal()) { if (rxIsReceivingSignal()) {
// calculate update frequency // calculate update frequency
int scale = MAX(ABS(rcCommand[ROLL]), ABS(rcCommand[PITCH])); // 0 - 500 int scale = MAX(fabsf(rcCommand[ROLL]), fabsf(rcCommand[PITCH])); // 0 - 500
scale = scale - INDICATOR_DEADBAND; // start increasing frequency right after deadband scale = scale - INDICATOR_DEADBAND; // start increasing frequency right after deadband
*timer += HZ_TO_US(5 + (45 * scale) / (500 - INDICATOR_DEADBAND)); // 5 - 50Hz update, 2.5 - 25Hz blink *timer += HZ_TO_US(5 + (45 * scale) / (500 - INDICATOR_DEADBAND)); // 5 - 50Hz update, 2.5 - 25Hz blink

6
src/main/io/pidaudio.c
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@ -86,19 +86,19 @@ void FAST_CODE_NOINLINE pidAudioUpdate(void)
switch (pidAudioMode) { switch (pidAudioMode) {
case PID_AUDIO_PIDSUM_X: case PID_AUDIO_PIDSUM_X:
{ {
const uint32_t pidSumX = MIN(ABS(pidData[FD_ROLL].Sum), PIDSUM_LIMIT); const uint32_t pidSumX = MIN(fabsf(pidData[FD_ROLL].Sum), PIDSUM_LIMIT);
tone = scaleRange(pidSumX, 0, PIDSUM_LIMIT, TONE_MAX, TONE_MIN); tone = scaleRange(pidSumX, 0, PIDSUM_LIMIT, TONE_MAX, TONE_MIN);
break; break;
} }
case PID_AUDIO_PIDSUM_Y: case PID_AUDIO_PIDSUM_Y:
{ {
const uint32_t pidSumY = MIN(ABS(pidData[FD_PITCH].Sum), PIDSUM_LIMIT); const uint32_t pidSumY = MIN(fabsf(pidData[FD_PITCH].Sum), PIDSUM_LIMIT);
tone = scaleRange(pidSumY, 0, PIDSUM_LIMIT, TONE_MAX, TONE_MIN); tone = scaleRange(pidSumY, 0, PIDSUM_LIMIT, TONE_MAX, TONE_MIN);
break; break;
} }
case PID_AUDIO_PIDSUM_XY: case PID_AUDIO_PIDSUM_XY:
{ {
const uint32_t pidSumXY = MIN((ABS(pidData[FD_ROLL].Sum) + ABS(pidData[FD_PITCH].Sum)) / 2, PIDSUM_LIMIT); const uint32_t pidSumXY = MIN((fabsf(pidData[FD_ROLL].Sum) + fabsf(pidData[FD_PITCH].Sum)) / 2, PIDSUM_LIMIT);
tone = scaleRange(pidSumXY, 0, PIDSUM_LIMIT, TONE_MAX, TONE_MIN); tone = scaleRange(pidSumXY, 0, PIDSUM_LIMIT, TONE_MAX, TONE_MIN);
break; break;
} }

2
src/test/unit/pid_unittest.cc
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@ -71,7 +71,7 @@ extern "C" {
float getMotorMixRange(void) { return simulatedMotorMixRange; } float getMotorMixRange(void) { return simulatedMotorMixRange; }
float getSetpointRate(int axis) { return simulatedSetpointRate[axis]; } float getSetpointRate(int axis) { return simulatedSetpointRate[axis]; }
bool isAirmodeActivated() { return simulatedAirmodeEnabled; } bool isAirmodeActivated() { return simulatedAirmodeEnabled; }
float getRcDeflectionAbs(int axis) { return ABS(simulatedRcDeflection[axis]); } float getRcDeflectionAbs(int axis) { return fabsf(simulatedRcDeflection[axis]); }
void systemBeep(bool) { } void systemBeep(bool) { }
bool gyroOverflowDetected(void) { return false; } bool gyroOverflowDetected(void) { return false; }
float getRcDeflection(int axis) { return simulatedRcDeflection[axis]; } float getRcDeflection(int axis) { return simulatedRcDeflection[axis]; }