Merge pull request #10711 from mikeller/remove_powerf

Remove unneeded library function 'powerf()'.

src/main/common/maths.c

@@ -115,13 +115,6 @@ int gcd(int num, int denom)
     return gcd(denom, num % denom);
 }
 
-float powerf(float base, int exp) {
-    float result = base;
-    for (int count = 1; count < exp; count++) result *= base;
-
-    return result;
-}
-
 int32_t applyDeadband(const int32_t value, const int32_t deadband)
 {
     if (ABS(value) < deadband) {

src/main/common/maths.h

@@ -101,7 +101,6 @@ typedef struct fp_rotationMatrix_s {
 } fp_rotationMatrix_t;
 
 int gcd(int num, int denom);
-float powerf(float base, int exp);
 int32_t applyDeadband(int32_t value, int32_t deadband);
 float fapplyDeadband(float value, float deadband);
 

src/main/common/sdft.c

@@ -38,7 +38,7 @@ static void applySqrt(const sdft_t *sdft, float *data);
 void sdftInit(sdft_t *sdft, const uint8_t startBin, const uint8_t endBin, const uint8_t numBatches)
 {
     if (!isInitialized) {
-        rPowerN = powerf(SDFT_R, SDFT_SAMPLE_SIZE);
+        rPowerN = powf(SDFT_R, SDFT_SAMPLE_SIZE);
         const float c = 2.0f * M_PIf / (float)SDFT_SAMPLE_SIZE;
         float phi = 0.0f;
         for (uint8_t i = 0; i < SDFT_BIN_COUNT; i++) {

src/main/drivers/barometer/barometer_bmp388.c

@@ -20,28 +20,26 @@
  * BMP388 Driver author: Dominic Clifton
  */
 
+#include <math.h>
 #include <stdbool.h>
 #include <stdint.h>
 
 #include "platform.h"
 
-#include "build/build_config.h"
-
 #if defined(USE_BARO) && (defined(USE_BARO_BMP388) || defined(USE_BARO_SPI_BMP388))
 
+#include "build/build_config.h"
+
 #include "build/debug.h"
 
-#include "common/maths.h"
-
-#include "barometer.h"
-
+#include "drivers/barometer/barometer.h"
 #include "drivers/bus.h"
 #include "drivers/bus_i2c.h"
 #include "drivers/bus_i2c_busdev.h"
 #include "drivers/bus_spi.h"
 #include "drivers/io.h"
-#include "drivers/time.h"
 #include "drivers/nvic.h"
+#include "drivers/time.h"
 
 #include "barometer_bmp388.h"
 
@@ -303,8 +301,8 @@ bool bmp388Detect(const bmp388Config_t *config, baroDev_t *baro)
 
     // See datasheet 3.9.2 "Measurement rate in forced mode and normal mode"
     baro->up_delay = 234 +
-        (392 + (powerf(2, BMP388_PRESSURE_OSR + 1) * 2000)) +
-        (313 + (powerf(2, BMP388_TEMPERATURE_OSR + 1) * 2000));
+        (392 + (powf(2, BMP388_PRESSURE_OSR + 1) * 2000)) +
+        (313 + (powf(2, BMP388_TEMPERATURE_OSR + 1) * 2000));
 
     baro->calculate = bmp388Calculate;
 

src/main/fc/rc.c

@@ -27,7 +27,6 @@
 #include "build/debug.h"
 
 #include "common/axis.h"
-#include "common/maths.h"
 #include "common/utils.h"
 
 #include "config/config.h"
@@ -203,7 +202,7 @@ float applyKissRates(const int axis, float rcCommandf, const float rcCommandfAbs
 float applyActualRates(const int axis, float rcCommandf, const float rcCommandfAbs)
 {
     float expof = currentControlRateProfile->rcExpo[axis] / 100.0f;
-    expof = rcCommandfAbs * (powerf(rcCommandf, 5) * expof + rcCommandf * (1 - expof));
+    expof = rcCommandfAbs * (powf(rcCommandf, 5) * expof + rcCommandf * (1 - expof));
 
     const float centerSensitivity = currentControlRateProfile->rcRates[axis] * 10.0f;
     const float stickMovement = MAX(0, currentControlRateProfile->rates[axis] * 10.0f - centerSensitivity);

src/main/flight/pid.c

@@ -30,7 +30,6 @@
 
 #include "common/axis.h"
 #include "common/filter.h"
-#include "common/maths.h"
 
 #include "config/config_reset.h"
 #include "config/simplified_tuning.h"
@@ -321,7 +320,7 @@ float pidCompensateThrustLinearization(float throttle)
     if (pidRuntime.thrustLinearization != 0.0f) {
         // for whoops where a lot of TL is needed, allow more throttle boost
         const float throttleReversed = (1.0f - throttle);
-        throttle /= 1.0f + pidRuntime.throttleCompensateAmount * powerf(throttleReversed, 2);
+        throttle /= 1.0f + pidRuntime.throttleCompensateAmount * powf(throttleReversed, 2);
     }
     return throttle;
 }
@@ -331,7 +330,7 @@ float pidApplyThrustLinearization(float motorOutput)
     if (pidRuntime.thrustLinearization != 0.0f) {
         if (motorOutput > 0.0f) {
             const float motorOutputReversed = (1.0f - motorOutput);
-            motorOutput *= 1.0f + powerf(motorOutputReversed, 2) * pidRuntime.thrustLinearization;
+            motorOutput *= 1.0f + powf(motorOutputReversed, 2) * pidRuntime.thrustLinearization;
         }
     }
     return motorOutput;

src/main/flight/pid_init.c

@@ -30,7 +30,6 @@
 
 #include "common/axis.h"
 #include "common/filter.h"
-#include "common/maths.h"
 
 #include "drivers/dshot_command.h"
 
@@ -363,7 +362,7 @@ void pidInitConfig(const pidProfile_t *pidProfile)
 
 #ifdef USE_THRUST_LINEARIZATION
     pidRuntime.thrustLinearization = pidProfile->thrustLinearization / 100.0f;
-    pidRuntime.throttleCompensateAmount = pidRuntime.thrustLinearization - 0.5f * powerf(pidRuntime.thrustLinearization, 2);
+    pidRuntime.throttleCompensateAmount = pidRuntime.thrustLinearization - 0.5f * powf(pidRuntime.thrustLinearization, 2);
 #endif
 
 #if defined(USE_D_MIN)