Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-26 17:55:30 +03:00
Code Issues Wiki Activity

avoid unnecessary float conversions

Browse source
This commit is contained in:
ctzsnooze 2024-10-26 20:31:25 +11:00
parent 7f9e69420a
commit c52534d170
2 changed files with 6 additions and 8 deletions
Download patch file Download diff file Expand all files Collapse all files

10
src/main/flight/autopilot.c
View file

@ -209,8 +209,6 @@ bool positionControl(void) {
int32_t bearing = 0; // degrees * 100 int32_t bearing = 0; // degrees * 100
GPS_distance_cm_bearing(&gpsSol.llh, &currentTargetLocation, false, &distanceCm, &bearing); GPS_distance_cm_bearing(&gpsSol.llh, &currentTargetLocation, false, &distanceCm, &bearing);
posHold.distanceCm = (float)distanceCm; posHold.distanceCm = (float)distanceCm;
float headingDeg = attitude.values.yaw * 0.1f;
float bearingDeg = bearing * 0.01f;
// ** handle startup ** // ** handle startup **
@ -262,7 +260,7 @@ bool positionControl(void) {
// separate PID controllers for latitude (NorthSouth or ns) and longitude (EastWest or ew) // separate PID controllers for latitude (NorthSouth or ns) and longitude (EastWest or ew)
// divide the distance vector into ns and ew parts depending on the bearing to the target point // divide the distance vector into ns and ew parts depending on the bearing to the target point
float bearingRadians = bearingDeg * RAD; // 0-360 degrees, constrained within sin_approx float bearingRadians = (bearing / 100.0f) * RAD; // 0-360 degrees, constrained within sin_approx
const float nsDistance = -cos_approx(bearingRadians) * posHold.distanceCm; const float nsDistance = -cos_approx(bearingRadians) * posHold.distanceCm;
// Positive when North of the target, negative when when South of target // Positive when North of the target, negative when when South of target
@ -340,7 +338,7 @@ bool positionControl(void) {
float ewPidSum = ewP + ewI + ewDA; float ewPidSum = ewP + ewI + ewDA;
// ** Rotate pid Sum to quad frame of reference, into pitch and roll ** // ** Rotate pid Sum to quad frame of reference, into pitch and roll **
float headingRads = headingDeg * RAD; // headingDeg is 0-360 but will be constrained in sin_approx() float headingRads = (attitude.values.yaw / 10.0f) * RAD; // will be constrained to +/-pi in sin_approx()
const float sinHeading = sin_approx(headingRads); const float sinHeading = sin_approx(headingRads);
const float cosHeading = cos_approx(headingRads); const float cosHeading = cos_approx(headingRads);
float pidSumRoll = -sinHeading * nsPidSum + cosHeading * ewPidSum; float pidSumRoll = -sinHeading * nsPidSum + cosHeading * ewPidSum;
@ -358,7 +356,7 @@ bool positionControl(void) {
// Debugs... distances in cm, angles in degrees * 10, velocities cm/2 // Debugs... distances in cm, angles in degrees * 10, velocities cm/2
if (gyroConfig()->gyro_filter_debug_axis == FD_ROLL) { if (gyroConfig()->gyro_filter_debug_axis == FD_ROLL) {
DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 0, lrintf(bearingDeg)); DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 0, bearing / 10);
DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 1, lrintf(ewDistance)); DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 1, lrintf(ewDistance));
DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 2, lrintf(ewPidSum * 10)); DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 2, lrintf(ewPidSum * 10));
DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 3, lrintf(pidSumRoll * 10)); DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 3, lrintf(pidSumRoll * 10));
@ -367,7 +365,7 @@ bool positionControl(void) {
DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 6, lrintf(ewDA * 10)); DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 6, lrintf(ewDA * 10));
DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 7, lrintf(posHold.integralEW * 10)); DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 7, lrintf(posHold.integralEW * 10));
} else { } else {
DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 0, lrintf(bearingDeg));; DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 0, bearing / 10);
DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 1, lrintf(nsDistance)); DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 1, lrintf(nsDistance));
DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 2, lrintf(nsPidSum * 10)); DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 2, lrintf(nsPidSum * 10));
DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 3, lrintf(pidSumPitch * 10)); DEBUG_SET(DEBUG_AUTOPILOT_POSITION, 3, lrintf(pidSumPitch * 10));

2
src/main/flight/imu.h
View file

@ -46,7 +46,7 @@ typedef struct {
typedef union { typedef union {
int16_t raw[XYZ_AXIS_COUNT]; int16_t raw[XYZ_AXIS_COUNT];
struct { struct {
// absolute angle inclination in multiple of 0.1 degree 180 deg = 1800 // absolute angle inclination in multiple of 0.1 degree eg attitude.values.yaw 180 deg = 1800
int16_t roll; int16_t roll;
int16_t pitch; int16_t pitch;
int16_t yaw; int16_t yaw;