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[state interface] speed_norm_i is unsigned

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This commit is contained in:
Felix Ruess
2014-11-18 14:55:54 +01:00
parent c03427b700
commit b0070b261d
2 changed files with 8 additions and 8 deletions
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sw/airborne/state.c
+6 -6
View File
@@ -762,8 +762,8 @@ void stateCalcHorizontalSpeedNorm_i(void) {
state.h_speed_norm_i = SPEED_BFP_OF_REAL(state.h_speed_norm_f); state.h_speed_norm_i = SPEED_BFP_OF_REAL(state.h_speed_norm_f);
} }
else if (bit_is_set(state.speed_status, SPEED_NED_I)) { else if (bit_is_set(state.speed_status, SPEED_NED_I)) {
int32_t n2 = (state.ned_speed_i.x*state.ned_speed_i.x + uint32_t n2 = (state.ned_speed_i.x*state.ned_speed_i.x +
state.ned_speed_i.y*state.ned_speed_i.y) >> INT32_SPEED_FRAC; state.ned_speed_i.y*state.ned_speed_i.y) >> INT32_SPEED_FRAC;
INT32_SQRT(state.h_speed_norm_i, n2); INT32_SQRT(state.h_speed_norm_i, n2);
} }
else if (bit_is_set(state.speed_status, SPEED_NED_F)) { else if (bit_is_set(state.speed_status, SPEED_NED_F)) {
@@ -772,8 +772,8 @@ void stateCalcHorizontalSpeedNorm_i(void) {
state.h_speed_norm_i = SPEED_BFP_OF_REAL(state.h_speed_norm_f); state.h_speed_norm_i = SPEED_BFP_OF_REAL(state.h_speed_norm_f);
} }
else if (bit_is_set(state.speed_status, SPEED_ENU_I)) { else if (bit_is_set(state.speed_status, SPEED_ENU_I)) {
int32_t n2 = (state.enu_speed_i.x*state.enu_speed_i.x + uint32_t n2 = (state.enu_speed_i.x*state.enu_speed_i.x +
state.enu_speed_i.y*state.enu_speed_i.y) >> INT32_SPEED_FRAC; state.enu_speed_i.y*state.enu_speed_i.y) >> INT32_SPEED_FRAC;
INT32_SQRT(state.h_speed_norm_i, n2); INT32_SQRT(state.h_speed_norm_i, n2);
} }
else if (bit_is_set(state.speed_status, SPEED_ENU_F)) { else if (bit_is_set(state.speed_status, SPEED_ENU_F)) {
@@ -785,8 +785,8 @@ void stateCalcHorizontalSpeedNorm_i(void) {
/* transform ecef speed to ned, set status bit, then compute norm */ /* transform ecef speed to ned, set status bit, then compute norm */
ned_of_ecef_vect_i(&state.ned_speed_i, &state.ned_origin_i, &state.ecef_speed_i); ned_of_ecef_vect_i(&state.ned_speed_i, &state.ned_origin_i, &state.ecef_speed_i);
SetBit(state.speed_status, SPEED_NED_I); SetBit(state.speed_status, SPEED_NED_I);
int32_t n2 = (state.ned_speed_i.x*state.ned_speed_i.x + uint32_t n2 = (state.ned_speed_i.x*state.ned_speed_i.x +
state.ned_speed_i.y*state.ned_speed_i.y) >> INT32_SPEED_FRAC; state.ned_speed_i.y*state.ned_speed_i.y) >> INT32_SPEED_FRAC;
INT32_SQRT(state.h_speed_norm_i, n2); INT32_SQRT(state.h_speed_norm_i, n2);
} }
else if (bit_is_set(state.speed_status, SPEED_ECEF_F)) { else if (bit_is_set(state.speed_status, SPEED_ECEF_F)) {
sw/airborne/state.h
+2 -2
View File
@@ -277,7 +277,7 @@ struct State {
* Norm of horizontal ground speed. * Norm of horizontal ground speed.
* Unit: m/s in BFP with #INT32_SPEED_FRAC * Unit: m/s in BFP with #INT32_SPEED_FRAC
*/ */
int32_t h_speed_norm_i; uint32_t h_speed_norm_i;
/** /**
* Direction of horizontal ground speed. * Direction of horizontal ground speed.
@@ -816,7 +816,7 @@ static inline struct EcefCoor_i* stateGetSpeedEcef_i(void) {
} }
/// Get norm of horizontal ground speed (int). /// Get norm of horizontal ground speed (int).
static inline int32_t* stateGetHorizontalSpeedNorm_i(void) { static inline uint32_t* stateGetHorizontalSpeedNorm_i(void) {
if (!bit_is_set(state.speed_status, SPEED_HNORM_I)) if (!bit_is_set(state.speed_status, SPEED_HNORM_I))
stateCalcHorizontalSpeedNorm_i(); stateCalcHorizontalSpeedNorm_i();
return &state.h_speed_norm_i; return &state.h_speed_norm_i;