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improved speed of scaleRcCommandToFpvCamAngle

This commit is contained in:
rav-rav 2016-02-28 16:03:30 +01:00
parent 391dad4a7b
commit a34e9d7482
1 changed files with 13 additions and 2 deletions
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15
src/main/mw.c
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@ -204,10 +204,21 @@ void filterRc(void){
} }
void scaleRcCommandToFpvCamAngle(void) { void scaleRcCommandToFpvCamAngle(void) {
//recalculate sin/cos only when masterConfig.rxConfig.fpvCamAngleDegrees changed
static uint8_t lastFpvCamAngleDegrees = 0;
static float cosFactor = 1.0;
static float sinFactor = 0.0;
if (lastFpvCamAngleDegrees != masterConfig.rxConfig.fpvCamAngleDegrees){
lastFpvCamAngleDegrees = masterConfig.rxConfig.fpvCamAngleDegrees;
cosFactor = cos_approx(masterConfig.rxConfig.fpvCamAngleDegrees * RAD);
sinFactor = sin_approx(masterConfig.rxConfig.fpvCamAngleDegrees * RAD);
}
int16_t roll = rcCommand[ROLL]; int16_t roll = rcCommand[ROLL];
int16_t yaw = rcCommand[YAW]; int16_t yaw = rcCommand[YAW];
rcCommand[ROLL] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * roll - sin(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * yaw, -500, 500); rcCommand[ROLL] = constrain(roll * cosFactor - yaw * sinFactor, -500, 500);
rcCommand[YAW] = constrain(cos(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * yaw + sin(masterConfig.rxConfig.fpvCamAngleDegrees*RAD) * roll, -500, 500); rcCommand[YAW] = constrain(yaw * cosFactor + roll * sinFactor, -500, 500);
} }
void annexCode(void) void annexCode(void)