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floating point numbers single precision

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This commit is contained in:
Ewoud Smeur
2018-04-26 14:03:48 +02:00
parent c7598ca7b0
commit 5675d4e073
1 changed files with 12 additions and 12 deletions
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sw/airborne/math/pprz_algebra_float.c
+12 -12
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@@ -477,9 +477,9 @@ void float_quat_derivative_lagrange(struct FloatQuat *qd, struct FloatRates *r,
void float_quat_of_eulers(struct FloatQuat *q, struct FloatEulers *e)
{
const float phi2 = e->phi / 2.0;
const float theta2 = e->theta / 2.0;
const float psi2 = e->psi / 2.0;
const float phi2 = e->phi / 2.f;
const float theta2 = e->theta / 2.f;
const float psi2 = e->psi / 2.f;
const float s_phi2 = sinf(phi2);
const float c_phi2 = cosf(phi2);
@@ -503,9 +503,9 @@ void float_quat_of_eulers(struct FloatQuat *q, struct FloatEulers *e)
*/
void float_quat_of_eulers_zxy(struct FloatQuat *q, struct FloatEulers *e)
{
const float phi2 = e->phi / 2.0;
const float theta2 = e->theta / 2.0;
const float psi2 = e->psi / 2.0;
const float phi2 = e->phi / 2.f;
const float theta2 = e->theta / 2.f;
const float psi2 = e->psi / 2.f;
const float s_phi2 = sinf(phi2);
const float c_phi2 = cosf(phi2);
@@ -531,9 +531,9 @@ void float_quat_of_eulers_zxy(struct FloatQuat *q, struct FloatEulers *e)
*/
void float_quat_of_eulers_yxz(struct FloatQuat *q, struct FloatEulers *e)
{
const float phi2 = e->phi / 2.0;
const float theta2 = e->theta / 2.0;
const float psi2 = e->psi / 2.0;
const float phi2 = e->phi / 2.f;
const float theta2 = e->theta / 2.f;
const float psi2 = e->psi / 2.f;
const float s_phi2 = sinf(phi2);
const float c_phi2 = cosf(phi2);
@@ -686,10 +686,10 @@ void float_eulers_of_quat_yxz(struct FloatEulers *e, struct FloatQuat *q)
const float qxqy = q->qx * q->qy;
const float qxqz = q->qx * q->qz;
const float qyqz = q->qy * q->qz;
const float r11 = 2 * (qxqz + qiqy);
const float r11 = 2.f * (qxqz + qiqy);
const float r12 = qi2 - qx2 + qy2 + qz2;
const float r21 = -2 * (qyqz - qiqx);
const float r31 = 2 * (qxqy + qiqz);
const float r21 = -2.f * (qyqz - qiqx);
const float r31 = 2.f * (qxqy + qiqz);
const float r32 = qi2 - qx2 + qy2 - qz2;
e->theta = atan2f(r11, r12);